APPARATUS FOR CONTROLLING PROPELLER OF UNDERWATER ROBOT

摘要

FIELD: robotics, namely systems for controlling propellers of underwater robots. SUBSTANCE: apparatus includes input signal setter, second and third adders, division unit, unit for calculating modulus and continuous signal setter. All said units are used for generating necessary correcting signals and they provide additional non-linear feedback circuit according to rotation number of engine shaft. EFFECT: possibility of providing necessary dynamic properties and operation quality factors of system for controlling propeller of underwater robot in conditions of significant influence of viscous environmental medium. 1 dwg