Abstract
The definition of a new class of control objects is proposed. It is an underwater complex with flexible tethers (UCFT) for which there is the need to automate motion control under uncertainty and nonstationarity of own parameters and external disturbances. Classification of marine mobile objects and characteristics of the flexible tethers as UCFT elements is given. The basic UCFTs configurations that are used in the implementation of advanced underwater technologies are revealed. They include single-, double- and three-linked structures with surface or underwater support vessels and self-propelled or towed underwater vehicles. The role of mathematical modeling in tasks of motion control automation is shown. The tasks of UCFT mathematical modeling are formulated for synthesis and study of its automatic control systems. Generalized structures of mathematical models of UCFT basic elements are proposed as the basis for the creation of simulating complex to study the dynamics of its motion. The tasks of UCFT identification as a control object are formulated. Their consistent solution will help to obtain a UCFT mathematical model. The basic requirements for UCFT automatic motion control systems are determined. Their satisfaction will ensure implementation of selected underwater technology. Areas of development of synthesis methods of UCFT automatic control systems are highlighted.
Highlights
A wide range of underwater operations is performed using tethered underwater systems (TUS), which are well studied and described in the scientific and technical literature [1, 2]
A typical single-linked TUS contains a tethered underwater vehicle (UV), which is connected with the help of the tether cable (TC) to a control station (CS) located on a surface support vessel (SV) (Fig. 1)
The SV is equipped with a launch-and-recovery system (LARS) and a cable winch (CW)
Summary
A wide range of underwater operations is performed using tethered underwater systems (TUS), which are well studied and described in the scientific and technical literature [1, 2]. The analysis of publications shows that the current state of UCFT control theory is as follows: – tasks of UCFT control are formulated as isolated cases of implementation of individual modes of motion of tethered UVs and their SVs; – proposed UV ACSs has high sensitivity to FT perturbations; – onboard ACSs of surface vessels are intended for their conduct on a given route and do not provide high dynamic control accuracy when driving on difficult paths trajectories; – existing ACSs of surface vessels do not take into account FT perturbations and with their significant impact do not provide the necessary control quality; – there is no single approach to ACS synthesis of UCFT motion as a system with multiple controlled multidimensional objects; – classic technologies of underwater operations are designed for TUSs and they do not realize the full potential of coordinated controlled motion of single-linked and multilinked UCFT. The task of MMO stabilization can be considered as a special case of its trajectory motion: Pg(t) const
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