Certificate of Registration Media number Эл #ФС77-53688 of 17 April 2013. ISSN 2308-6033. DOI 10.18698/2308-6033
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Special Aspects of ROV Attitude Control Systems for Large Pitch and Roll Angle Maneuvers

Published: 26.03.2018

Authors: Lyamina E.A., Egorov S.A.

Published in issue: #3(75)/2018

DOI: 10.18698/2308-6033-2018-3-1745

Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems

The scope of uninhabited underwater vehicles is increasing, problems appear that require control of vehicles at large angles of inclination. At the same time, the applicability of traditional approaches to this problem solution has been poorly studied. The construction of a system for underwater vehicle position control at the large angles of inclination is considered on the basis of the traditional method of controlling the orientation in the Euler—Krylov angles. In the course of the research a general form of the transfer matrix of apparatus angular orientation control system is derived. It is shown that as the angles of inclination increase, the transfer matrix of the system becomes multiconnected. Algorithms for compensation of appearing perturbations are proposed. The obtained results are checked by the mathematical modeling techniques. The compensation algorithms proposed in the work allow expanding the ranges of working angle values and improving the operation quality of the angular orientation control system of existing uninhabited underwater vehicles without significant redesign of its structure.

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