CONTROL APPARATUS FOR UNDERWATER ROBOT Russian patent published in 2004 - IPC

FIELD: robotics, namely systems for controlling operations of underwater robots.

SUBSTANCE: apparatus includes three adders (first and second adders are connected by their inlets with first and second setters respectively); connected in series first multiplication unit and first adder; connected in series amplifier and propeller directly connected with first speed pickup; first unit for calculating modulus. Outlet of speed pickup is connected with first inlet of first multiplication unit, with inlet of first unit for calculating modulus and with second inlet of first adder. Outlet of first unit for calculating modulus is connected with second inlet of first multiplication unit. Apparatus also includes connected in series: integrator, fourth adder, first relay unit and second multiplication unit; connected in series second unit for calculating modulus, unit for extracting square root and third multiplication unit. Second inlet of second multiplication unit is connected with outlet of third adder; outlet of second multiplication unit is connected with third inlet of first adder. Outlet of third multiplication unit is connected inlet of amplifier, second inlet of third multiplication unit through second relay unit is connected with inlet of second unit for calculating modulus and with outlet of first adder whose fourth inlet is connected with outlet of first setter. Second inlet of third adder through squaring unit is connected with outlet of speed pickup and with second inlet of fourth adder. Third inlet of third adder through third unit for calculating modulus is connected with inlet of integrator and with outlet of second adder whose second inlet is connected with outlet of integrator.

EFFECT: possibility for providing desired dynamic properties of control system of underwater robot in condition of significant influence of viscous environment and at wide range of changing parameters of objects.

1 dwg