METHOD FOR CONTROL OF OPERATION CONDITION OF HYDRODYNAMIC FIN-TYPE VIBRATION PROPULSIVE DEVICE

摘要

The present invention pertains to the field of water transport actuators, and it can be used for motion excitation of ships, underwater robotic fishes, motorboats, etc. The objective of the invention is to increase the efficiency of operation of vibration propulsive device and to simplify the procedure for motion control. In accordance with the proposed method motion of fin (1) is activated with the aid of direct-current driving motor (4). Control of operation condition lies in reduction of braking force during fin's motion from fore-and-aft axis of floating vehicle up to its end position with maximal turning angle. During fin's motion a supply voltage of driving motor (4) is cyclically changed in correspondence with the condition Umax/Umin= 1.25, where Umax is a supply voltage during fin's motion from its end position up to fore-and-aft axis of floating vehicle, Umin is a supply voltage during fin's motion in opposite direction.