title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÐ¼ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ¾Ð¼ Ð¿ÑÐ¸ Ð¿Ð¾Ð¸ÑÐºÐµ Ð¼ÐµÑÐ°Ð»Ð»Ð¾ÑÐ¾Ð´ÐµÑÐ¶Ð°ÑÐµÐ³Ð¾ Ð¾Ð±ÑÐµÐºÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Research of the underwater vehicle control method in the search for a metal-containing object
Creators: name: ÐÑÐ·ÑÐ¼ÐµÐ½ÐºÐ¾, ÐÐ»ÐµÐ½Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÐ¹ Ð½ÐµÐ¾Ð±Ð¸ÑÐ°ÐµÐ¼ÑÐ¹ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÐ¹ Ð°Ð¿Ð¿Ð°ÑÐ°Ñ (ÐÐÐÐ)
Ð½ÐµÑÑÐµÐ³Ð°Ð·Ð¾Ð²ÑÐ¹ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´
ÑÐ»ÐµÐºÑÑÐ¾Ð¼Ð°Ð³Ð½Ð¸ÑÐ½ÑÐµ Ð¸ÑÐºÐ°ÑÐµÐ»Ð¸
ÐºÑÑÑ
Ð³Ð»ÑÐ±Ð¸Ð½Ð°
autonomous unmanned underwater vehicle (AUV)
oil and gas pipeline
electromagnetic seekers
heading
depth

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÑ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð² Ð¸ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÑÑÑÐ¾Ð¼ Ð¸ Ð³Ð»ÑÐ±Ð¸Ð½Ð¾Ð¹ ÐÐÐÐ. Ð ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: Ð¸Ð·ÑÑÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÑ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð²; Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿ÑÐµÐ´Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð´Ð»Ñ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ; Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÑÑÑÐ¾Ð¼ Ð¸ Ð³Ð»ÑÐ±Ð¸Ð½Ð¾Ð¹ ÐÐÐÐ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ; Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸Ð¹ Ð½Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð½Ð° ÐºÐ°ÑÐµÑÑÐ²Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐÐÐÐ. Ð Ð°Ð±Ð¾ÑÐ° Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð´Ð»Ñ ÐÐÐÐ ÑÐ´Ð¾Ð±Ð¾Ð¾Ð±ÑÐµÐºÐ°ÐµÐ¼Ð¾Ð¹ ÑÐ¾ÑÐ¼Ñ, Ð¿ÑÐµÐ´Ð½Ð°Ð·Ð½Ð°ÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ð´Ð»Ñ Ð¾Ð±Ð·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð¸ÑÐºÐ¾Ð²ÑÑ ÑÐ°Ð±Ð¾Ñ. ÐÑÐ»Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ñ Ð¼ÐµÑÐ¾Ð´Ñ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÑ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð² Ð¸ ÑÐ¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÑÑÑÐ¾Ð¼ Ð¸ Ð³Ð»ÑÐ±Ð¸Ð½Ð¾Ð¹ ÐÐÐÐ. ÐÑÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ñ Ð² ÑÑÐµÐ´Ðµ MATLAB Simulink. ÐÑÐ±ÑÐ°Ð½Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐµ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ¸ Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÐµÐ¹, Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐ¸Ðµ Ð½Ð°Ð¸Ð»ÑÑÑÐµÐµ ÐºÐ°ÑÐµÑÑÐ²Ð¾ Ð¿ÐµÑÐµÑÐ¾Ð´Ð½Ð¾Ð³Ð¾ Ð¿ÑÐ¾ÑÐµÑÑÐ°.
description: This work is devoted to the study of methods for detecting underwater pipelines and the creation of an AUV heading and depth control system. In the course of the study, the following tasks were solved: study of methods for detecting underwater pipelines; analysis of the provided data to create a management system; modeling of AUV heading and depth control systems based on the analyzed data; study of the influence of control restrictions on the quality of AUV control. The work was carried out for an AUV of a streamlined shape, intended for survey and search work. Methods for detecting underwater pipelines were investigated and AUV heading and depth control systems were modeled. All models are implemented in the MATLAB Simulink environment. The optimal characteristics of the meters are chosen, providing the best quality of the transient process.