The stabilization interval system of a tethered descent underwater vehicle

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Abstract

To damp the vertical oscillations of a descent submersible caused by dusting the control system utilizing a shock-absorbing hoist located on the submersible was developed. A robust proportional-plus-integral action controller was included in the control loop to ensure acceptable dynamic properties of the system by interval variations of the module mass, the rope length, the equivalent value of stiffness of a spring linkage and the equivalent value of damping factor of the spring linkage. A parametric synthesis of the controller was carried out on the basis of the robust expansion of the coefficient method of the quality rating estimation. The system operability was confirmed by the results of the digital simulation parameters.

Original languageEnglish
Article number012008
JournalIOP Conference Series: Materials Science and Engineering
Volume124
Issue number1
DOIs
Publication statusPublished - 2 Jun 2016
EventInternational Conference on Mechanical Engineering, Automation and Control Systems 2015, MEACS 2015 - Tomsk, Russian Federation
Duration: 1 Dec 20154 Dec 2015

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ASJC Scopus subject areas

  • Materials Science(all)
  • Engineering(all)

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