Nguyen T. Automation of one-unit underwater towed system control with elevating towed vehicle

The dissertation is devoted to improvement of automatic control systems for one-unit underwater towed systems with elevating towed vehicles by ap-plication of adaptive PID-regulators, fuzzy regulators and regulators on the ba-sis of inverse mathematical models of control object. The automatic control system for steady movement of the vehicle with PID-regulators of attack an-gles of bearing surface and empennage of the vehicle, invariant to the vectors of forces and towage speed, is synthesized. The dependences of coefficients of fuzzy regulators of bearing surface and empennage of the vehicle as functions of speed and force of towage are received. Inverse mathematical models of the vehicle motion on the vertical axis and turn around horizontal axis are devel-oped, the structures of regulators of attack angles of bearing surface and em-pennage are achieved on its basis. The expressions for regulators coefficients are received at action of external disturbances.