METHOD FOR DETERMINATION OF DAMPING HYDRODYNAMIC CHARACTERISTICS OF UNDERWATER VEHICLE Russian patent published in 2019 - IPC B63H25/00 B63B9/00 G06F17/50 

FIELD: underwater vehicles; control systems.

SUBSTANCE: invention relates to control of self-contained underwater vehicles and can be used for prediction of trajectories of underwater vehicles performing complex maneuvering. A three-dimensional model of the underwater vehicle is created, around which distribution of flow velocity and pressure fields is determined. Model oscillations are successively set on the trajectory by trim, heading and roll angles. Vertical angle oscillations are set by application of excess buoyancy force varying according to harmonic law, and phase shift between fluctuations of excessive buoyancy force and model oscillations by trim angle is determined. Oscillations along heading angle are set by application of horizontal force varying according to harmonic law, and phase shift is determined between oscillations of horizontal force and oscillations of model by heading angle. Oscillations on the roll angle are set by application of the moment varying according to the harmonic law, the moment is applied in the plane of the mid-frame frame of the model. Phase shift between moment oscillations and model oscillations by roll angle is determined. Damping hydrodynamic characteristics are determined.

EFFECT: higher accuracy and safety of underwater vehicle control during complex maneuvering.

1 cl, 3 dwg