Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

K V Chupina; E V Kataev; A M Khannanov; V N Korshunov; I A Sennikov

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Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

机译：具有分布式参数的船舶血管血管升降装置的鲁棒自动控制系统“牵引水下车辆”

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The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable's length.

机译：本文致力于合成分布式参数厂的鲁棒控制系统的问题。血管缩进式升高装置具有升降补偿功能，用于稳定牵引水下车辆在设定深度上。海区代码，水下车辆的参数和电缆在水下操作期间变化，船舶升降是一种随机过程。这意味着植物和外部干扰具有不确定性。这就是为什么有必要使用稳健的理论来合成自动控制系统，但不使用传统的优化方法，因为该电缆具有分布式参数。提供的技术允许人们设计一种有效的控制系统，用于稳定牵引水下车辆的浸没深度，以获得各种海洋粗糙度，并为车辆和电缆长度的参数偏差提供鲁棒性。

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《Journal of Physics: Conference Series》 |2018年第3期|共页
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K V Chupina; E V Kataev; A M Khannanov; V N Korshunov; I A Sennikov;
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机译：水下航行器和组合方向控制和电缆互连装置

Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

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