Blintsov O. Improvement of control of quasisteady spatial movement of a self-propelled tethered underwater system in the uncertainty conditions

Українська версія

Thesis for the degree of Candidate of Sciences (CSc)

State registration number

0409U003022

Thesis Registration Form

0409U003022.pdf

Applicant for

Specialization

  • 05.13.03 - Системи та процеси керування

12-05-2009

Specialized Academic Board

Д 35.052.14

Lviv Polytechnic National University

Essay

The dissertation is devoted to improvement of control of quasisteady spatial movement of a self-propelled tethered underwater system in conditions of uncertainty of its characteristics and parameters of external environment. The neural network based models of a remotely operated vehicle electro-propulsive device and the inverse spatial tether-cable model were obtained as elements of an automatic control system. The automatic control system of a self-propelled tethered underwater system based on direct and inverse models of its elements and the automatic control system of a remotely operated vehicle based on linear correction of control signals were obtained. The feedback channel of an automatic control system was improved by means of synthesis of the base coordinate neural network tether-cable model and usage of yaw and trim angles of its fast line and root end as inputs.

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Files

Avtoreferat--Avtoreferat.doc

Text_Dissertacii--01 Tytulnyj Lyst.doc

Text_Dissertacii--02 Zmist Skorochennja Vstup.doc

Text_Dissertacii--03 Rozdil-1.doc

Text_Dissertacii--04 Rozdil-2.doc

Text_Dissertacii--05 Rozdil-3.doc

Text_Dissertacii--05 Rozdil-3.doc

Text_Dissertacii--06 Rozdil-4.doc

Text_Dissertacii--07 Vysnovky.doc

Text_Dissertacii--08 Dodatky.doc

Text_Dissertacii--09 Literatura.doc

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