TASKS STATEMENT FOR MODERN AUTOMATIC CONTROL THEORY OF UNDERWATER COMPLEXES WITH FLEXIBLE TETHERS
Abstract
The definition of a new class of control objects is proposed. It is an underwater complex with flexible tethers (UCFT) for which there is the need to automate motion control under uncertainty and nonstationarity of own parameters and external disturbances. Classification of marine mobile objects and characteristics of the flexible tethers as UCFT elements is given.
The basic UCFTs configurations that are used in the implementation of advanced underwater technologies are revealed. They include single-, double- and three-linked structures with surface or underwater support vessels and self-propelled or towed underwater vehicles.
The role of mathematical modeling in tasks of motion control automation is shown. The tasks of UCFT mathematical modeling are formulated for synthesis and study of its automatic control systems. Generalized structures of mathematical models of UCFT basic elements are proposed as the basis for the creation of simulating complex to study the dynamics of its motion.
The tasks of UCFT identification as a control object are formulated. Their consistent solution will help to obtain a UCFT mathematical model.
The basic requirements for UCFT automatic motion control systems are determined. Their satisfaction will ensure implementation of selected underwater technology.
Areas of development of synthesis methods of UCFT automatic control systems are highlighted.
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Copyright (c) 2016 Valery Dudykevych, Blintsov Oleksandr
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