METHOD TO CONTROL SHIP DOWNWARD MOTION Russian patent published in 2010 - IPC B63H25/00 G05D1/04 

FIELD: transport.

SUBSTANCE: proposed method is based on two stages of programmed control using depth pickup and master and master unit that generates preset signal of downward motion. Said signal is input into temporary program unit to select the program of the first stage of pulsed control over two tanks. Formation of the second stage of pulsed control is realised at equality of measured depth signal and depth checking helm designed value whereat second control stage is program-initiated. At equality (closeness) of measured depth variation rate and depth acceleration with rate and acceleration designed values at depth check-helm point, programmed control of the second stage P_{2 prog} by two tanks is initiated. When aforesaid values differ, the signal of corrected temporary programmed pulsed control of the second stage P_{2 corr} by two tanks is initiated.

EFFECT: automatic downward motion with high rate of depth variation.

1 dwg