METHOD OF CONTROLLING UNDERWATER CRAFT SUBMERGENCE AND DEVICE TO THIS END Russian patent published in 2013 - IPC B63B27/08 

FIELD: transport.

SUBSTANCE: set of invention relates to automatic control over underwater craft using ship hoisting mechanisms. Proposed method consists in variation of the length of flexible mechanical linkage between underwater craft and carrier ship. Main displacement of said craft in vertical is driven from the side of carrier ship by varying the length of the first part of said linkage. Additional displacement is performed from side of underwater craft by changing the length of second part of flexible linkage. For additional displacement of said craft in submergence and subsequent stabilisation, preset velocity of ship winch is used to measure the craft vertical displacement speed. Proceeding from the difference in said speeds, second component of force at flexible linkage second part is generated for compensation for heaving effects. Note here that first component is kept equal to underwater craft weight in water. Proposed device comprises winch mounted at carrier ship and damping winch arranged at underwater craft with one end of the cable coupled with winch drum. Cable opposite end is locked with raining cable. One end of trailing cable is coupled with ship winch drum while opposite end is secured to underwater craft to make a loop there between. The following equipment is mounted aboard the carrier ship, device to set mean length of cable and ship electrically driven winch, first control unit and speed setting device. Underwater craft comprises: two computers, craft vertical displacement speed transducer, comparator, electrically driven damping winch, second control unit and cable length transducer.

EFFECT: compensated heaving effects in submergence and stabilisation at required depth.

2 cl, 7 dwg