Hrudinina H. Improvement of an autonomous underwater vehicle speed stabilization system

The object of research is the process of stabilizing the mobility of an autonomous uninhabited underwater vehicle in an oblique water flow. Subject of the research is the correction of the speed of an autonomous uninhabited underwater apparatus, if the rush-kerm attachment is used near the oblique water. In the presented dissertation, the relevant scientific task of stabilizing an autonomous underwater vehicle (AUV) velocity in a plane curvilinear motion is solved. To solve the scientific task in the dissertation, the mathematical model for the spatial motion of an autonomous underwater vehicle, developed by the scientific school, «Underwater Technology» of the National University of Shipbuilding, was used. From the control theory view point, an autonomous underwater vehicle is considered as an absolutely rigid body, which makes it possible not to take into account the force interaction between its mass-bearing elements. It is assumed that the AUV has a streamlined shape. The vehicle control is carried out by applying the required voltage to the DC motor with independent excitation. The AUV has both forward and reverse motion modes. The value of the applied voltage regulates the screw propeller rotation speed and the vehicle motion direction.