| 摘要 |
FIELD: robotics. SUBSTANCE: in process of formation of required correcting signals main effects of propeller interaction with viscous medium (profile losses, propeller pitch variation in reverse, effect of motion speed of underwater robot) are taken into consideration. After correction mover preserves required quality characteristics in all modes of operation of underwater robot. To form required correcting signals, it is advisable to introduce additionally fourth, fifth, sixth, seventh and eighth adders, second, third, fourth, fifth, sixth and seventh multiplication units, first and second division units, first and second units of modulus calculation, first, second and third functional converters, squarer, input signal setting device, second velocity transducer, and relay element. EFFECT: higher efficiency of control. 1 dwg
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