METHOD OF CONTROLLING UNDERWATER OBJECT Russian patent published in 2016 - IPC G05B13/02 B63B27/08 

FIELD: machine building.

SUBSTANCE: invention relates to a method of controlling underwater object. To move underwater object vertically from ship, method includes changing length of first two parts of mechanical connection between object and ship while maintaining force equal to weight of underwater object in water, performing additional movement on part of underwater object changing length of second part of mechanical connection, limited permissible values. Method includes generating a second force component in second part of mechanical connection based on difference of measured speed of vertical movement of object and target ship speed winch and rope tension based on deviations from value corresponding to weight of underwater object submerged object when predetermined immersion depth.

EFFECT: higher accuracy of stabilisation of underwater object in conditions of heaving.

1 cl, 6 dwg