Abstract
Only electric accumulators are used as a power source of autonomous underwater vehicles (AUV). The capacity of a battery lasts for some hours of continuous operation of AUV, then the accumulators need to be charged. The connection of a battery to the charger is complicated and take a a lot of time. Charging AUV batteries under water using underwater charging station is suggested for the more efficient use of AUV. The operations of AUV attaching to the load gripping devices of descent-rise mechanism at their rise and descent are carried out by divers. The divers can be injured, if the sea waves force increases. When joining an AUV and an underwater charging station a descent-rise device damping a heave of support ship on immersion depth of underwater charging station is required. The description of an utomatic control system for heave compensation of support ship on immersion depth of an underwater charging station using the descent-rise mechanism is given.
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