title: ÐÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐÐÐ Ð¿ÑÐ¸ Ð½Ð°Ð»Ð¸ÑÐ¸Ð¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð²Ð¸Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ð¹
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Designing the control system of the AUV in the presence of different types of currents
Creators: name: ÐÐ¾Ð½Ð´Ð°ÑÐµÐ½ÐºÐ¾, ÐÐ»ÑÑ
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: 2024
Subjects: Ð Ð¾Ð±Ð¾ÑÑ
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐµÑÐµÐ½Ð¸Ñ
ÐºÐ¸Ð±ÐµÑÐ½ÐµÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
control system
model of current
cybernetic model

description: Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ¸Ð½ÑÐµÐ· ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ Ð¼Ð°ÐºÐµÑÐ° ÐÐÐ. ÐÐ°Ð´Ð°ÑÐµÐ¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ²Ð»ÑÐµÑÑÑ Ð´Ð¾ÑÑÐ¸Ð¶ÐµÐ½Ð¸Ðµ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ¾Ð¼ ÑÐµÐ»ÐµÐ²Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸ Ð½Ð°Ð»Ð¸ÑÐ¸Ð¸ Ð²Ð½ÐµÑÐ½Ð¸Ñ Ð²Ð¾Ð·Ð¼ÑÑÐ°ÑÑÐ¸Ñ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ð¹, Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÑÑÑÐ¸Ñ ÑÐ¾Ð±Ð¾Ð¹ ÑÑÐ°ÑÐ¸Ð¾Ð½Ð°ÑÐ½Ð¾Ðµ ÑÐµÑÐµÐ½Ð¸Ðµ, Ð½ÐµÑÑÐ°ÑÐ¸Ð¾Ð½Ð°ÑÐ½Ð¾Ðµ ÑÑÑÐ±ÑÐ»ÐµÐ½ÑÐ½Ð¾Ðµ ÑÐµÑÐµÐ½Ð¸Ðµ Ð¸ Ð²Ð¾Ð´Ð½ÑÑ ÑÑÑÑÑ Ð² Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð½Ð¾Ð¼ Ð²Ð¾Ð´Ð½Ð¾Ð¼ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ. ÐÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾-Ð°Ð½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¿Ð¾Ð¸ÑÐº ÑÐ¸ÑÑÐµÐ¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÑ Ð´Ð»Ñ ÐÐÐ, Ð±Ð»Ð¸Ð·ÐºÐ¸Ñ Ð¿Ð¾ ÑÐ¾ÑÐ¼Ðµ Ð¸ Ð½Ð°Ð±Ð¾ÑÑ Ð´Ð²Ð¸Ð¶Ð¸ÑÐµÐ»ÐµÐ¹ Ðº ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼Ð¾Ð¼Ñ Ð¼Ð°ÐºÐµÑÑ ÐÐÐ. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¸ ÐÐÐ, Ð² ÑÐ°Ð¼ÐºÐ°Ñ ÐºÐ¾ÑÐ¾ÑÑÑ Ð¾Ð¿Ð¸ÑÐ°Ð½Ñ ÑÐ¿Ð¾ÑÐ¾Ð±Ñ Ð´Ð¾Ð±Ð°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼ÑÑ Ð²Ð½ÐµÑÐ½Ð¸Ñ Ð²Ð¾Ð·Ð¼ÑÑÐ°ÑÑÐ¸Ñ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ð¹. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð²ÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÐµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ð½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¹ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½Ð¾Ð¹ ÐºÐ¸Ð±ÐµÑÐ½ÐµÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸, Ð² ÑÐ¾Ð´Ðµ ÐºÐ¾ÑÐ¾ÑÑÑ Ð¾ÑÐµÐ½Ð¸Ð²Ð°Ð»Ð¾ÑÑ ÐºÐ°ÑÐµÑÑÐ²Ð¾ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ¾Ð² Ð¿ÑÐ¸ Ð½Ð°Ð»Ð¸ÑÐ¸Ð¸ Ð´Ð²ÑÑ ÑÐ¸Ð¿Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ð¹ Ð¸ Ð²Ð¾Ð´Ð½Ð¾Ð¹ ÑÑÑÑÐ¸. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼Ð¸ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸, Ð² ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÐºÐ¾ÑÐ¾ÑÑÑ Ð¿ÑÐ¾Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¾, ÑÑÐ¾ Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½Ð°Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ½Ð°Ñ ÐºÐ¸Ð±ÐµÑÐ½ÐµÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð¿Ð¾ÑÑÐ°Ð²Ð¸Ð¼Ð° Ð¿Ð¾ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ñ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼Ð¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»ÑÑ Ð¸ Ð¼Ð¾Ð¶ÐµÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑÑÑ Ð´Ð»Ñ ÑÐ¸Ð½ÑÐµÐ·Ð° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐÐÐ.
description: The goal of the work is to synthesize a control system for the AUV model. The task of the control system is to achieve the target position by the apparatus in the presence of external disturbing influences, which are a stationary current, an unsteady turbulent current and a water jet in a limited water space. An information and analytical search was carried out for control systems developed for AUV similar in shape and set of propulsors to the considered model AUV. The work examined various models of AUV dynamics, within which methods for adding the considered external disturbing influences were described. Computational experiments were carried out on the developed complex cybernetic model, during which the quality of operation of various regulators was assessed in the presence of two types of currents and a water jet. The obtained results were compared with the results of modeling on a dynamic model, as a result of which it was demonstrated that the proposed complex cybernetic model is comparable in accuracy to the dynamic model under consideration and can be used to synthesize the control system of the AUV.