METHOD OF CONTROLLING ROLL OF UNDERWATER MOBILE OBJECT AND CONTROL SYSTEM IMPLEMENTING METHOD Russian patent published in 2019 - IPC B63G8/22 G05D1/08 

FIELD: machine building.

SUBSTANCE: group of inventions relates to a method and system of controlling a roll of an underwater mobile object. To control the roll, horizontal rudders are installed in a certain way, a coefficient of proportionality of roll is determined experimentally to the square of the angular velocity of rotation of the screw of the movable object propulsor and the obtained data are entered into the mobile object control computer system, automatically setting the horizontal rudders for the calculated heel moment value. System comprises power cylinders of pivoting of right and left horizontal rudders with feedback temperature transducers and hydraulic fluid working fluid distributors, controlled switches of operation of power cylinders from ship cylinder to backup system of hydraulics, servo drives of liquid distributors control, underwater object movement control panel with horizontal turn rudders control wheels turning wheels, rudders remote control unit, processor unit, power cylinders feedback clock converters.

EFFECT: enabling the underbody object heeling moment to zero.

2 cl