VARIABLE-STRUCTURE ADAPTIVE SYSTEM FOR CONTROLLING MOTION SPEED OF SUBMERGED ROBOT Russian patent published in 2003 - IPC

FIELD: robotics, namely development of systems for controlling motion speed of submerged robots. SUBSTANCE: system includes in addition nine adders, eight multiplication units, two division units, three modulus separating units, three functional generators, squaring unit, relay unit, acceleration pickup, robot motion speed sensor, member for detecting revolution number of shaft, amplifier and motor connected one with another. EFFECT: possibility of self-tuning of system, reduced time period for error zeroing in favorable operational modes due to additional signals compensating influence of hydrodynamic forces of viscous friction. 1 dwg