Abstract
The aim of the work is to determine the parameters of the mathematical model of the motion control system (MCS), which provides automatic monitoring of deep-sea communications with the minimum number of control devices of the MCS, due to which it is possible to use additional monitoring equipment. Mathematical models of the motion of an underwater robot are presented, block diagrams are constructed and the results of the motion of an underwater robot in the vertical and horizontal planes using the Matlab Simulink graphical simulation environment are obtained.
Highlights
Underwater robots are intended for solving problems of monitoring deep-sea communications
The first version of the mathematical model uses linear models of sensors to measure the kinematic parameters of the underwater robot
Η(t) = V ⋅ cos α(t) ⋅ sin θ(t) − cos θ(t) ⋅ sin α(t) dt + η, where ξ is coordinate of surge; ξ, η – initial values of the corresponding parameters. The solution of these equations allows to build a trajectory of the underwater robot in a vertical plane in the starting coordinate frame
Summary
Underwater robots are intended for solving problems of monitoring deep-sea communications. Special equipment on board of the underwater robot can record the status of the pipeline and other deep-water equipment [1]. The underwater robot is a reusable object, and after completing the task, it must return to the carrier to receive a new task or to replenish the consumed resource [2]
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
