RU2515632C1 - Device for underwater vehicle control - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: device contains vertical and horizontal movement propellers, telecamera installed with possibility of rotation, steering angle sensors, summation units, reference signal sources, threshold elements, sine and cosine functional generators, multiplier and divider units, amplifiers, switches, logic gates, proximity and command sensors, multilevel relay component, module taking units.

EFFECT: automatic selection of required rotation speed of underwater vehicle propellers with regard to directions of these rotations when none of these propellers enters saturation mode irrespective to direction of their rotation.

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Description

The invention relates to motion control systems for underwater vehicles (PA).

A device for controlling an underwater vehicle is known, comprising vertical and horizontal displacements, a rotary camera, rotationally connected, a camera rotation angle sensor and a first threshold element, a first adder connected in series, the first input of which is connected to the output of the first reference signal source, and the second threshold element, logical element HE and logical element OR, the second input of which is connected through the third threshold element to the output of the first a matrix, a serially connected sine function converter, a first multiplication unit, a first key, the second input of which is connected to the output of the first threshold element, and a first amplifier, the output of which is connected to the input of the vertical displacement mover, a cosine functional converter connected in series, the input of which is connected to the second input the first adder, the input of the sine function converter and the output of the camera angle sensor, the second multiplication unit, the second key, W a swarm input which is connected to the output of the OR logic element and a second amplifier, the output of which is connected to the input of the horizontal displacement motor, a distance sensor connected in series, a third key, a fourth threshold element, a fourth key, a fifth key, the second input of which is connected to the output of the fourth threshold element, and a sixth key, the output of which is connected to the second inputs of the first and second multiplication units, as well as a command sensor and series-connected first division unit, the first and second inputs of which respectively connected to the outputs of the cosine functional converter and the second source of the reference signal, the second adder and the seventh key, the second input of which is connected to the output of the first division unit, and the third to the second input of the second adder and the output of the second division unit, the first and second inputs of which are connected to the output of the third source of the reference signal and the output of the sine function converter, the third adder connected in series, the first input of which is connected to the output of the command sensor, the fifth a threshold element and an eighth key, the second input of which is connected to the output of the command sensor, and the output is connected to the third input of the sixth key, and the output of the fifth threshold element is connected to the second input of the fourth key, the first multilevel relay element is connected in series, the input of which is connected to the output of the third key , the third block of multiplication and the ninth key, the second input of which is connected to the output of the seventh key and the second input of the third block of multiplication, and the output to the second inputs of the third adder and sixth key (RF patent 2412858. Bull. No. 6, 2011).

The disadvantage of this device is that it allows you to control the rectilinear movement of the PA to the detected object only in a vertical plane. In the spatial motion of a PA, this rectilinear motion is not provided.

A device for controlling an underwater vehicle is also known, comprising vertical and horizontal displacement drivers, a camera mounted for rotation, a first camera angle of rotation angle and a first threshold element connected in series to a first adder, a first input of which is connected to an output of a first reference signal source, the second threshold element, the logical element NOT and the logical element OR, the second input of which is connected to an ode to the first adder, the first sine functional converter, the first multiplication unit, the first key, the second input of which is connected to the output of the first threshold element, and the first amplifier, the output of which is connected to the input of the vertical movement mover, the second cosine functional converter, the input of which is connected to the second input of the first adder, the input of the first sine functional Converter and the output of the first sensor of the angle of rotation of the camera, connected in series The second multiplication unit, the second key, the second input of which is connected to the output of the OR logic element, and the second amplifier, the output of which is connected to the input of the horizontal displacement mover, the distance sensor connected in series, the third key, the fourth threshold element, the fourth key, the fifth key, the second the input of which is connected to the output of the fourth threshold element, and the sixth key, the output of which is connected to the second inputs of the first and second multiplication units, as well as a command sensor and series-connected second the reference signal source and the first division unit, the second adder and the seventh key connected in series, as well as the second division unit, the first and second inputs of which are connected respectively to the outputs of the third reference signal source and the first sine functional converter, the third adder, the fifth threshold element connected in series the eighth key, the second input of which is connected to the output of the command sensor and the first input of the third adder, and the output to the third input of the sixth key, and the output of the fifth thresholds of the first element is connected to the second input of the fourth key, the first multilevel relay element is connected in series, the input of which is connected to the output of the third key, the third multiplication unit and the ninth key, the output of which is connected to the second inputs of the third adder and the sixth key, the second camera angle sensor is connected in series , a third cosine functional converter and a fourth multiplication unit, the output of which is connected to the second input of the first division unit and the first input of the second multiplication unit, connected in series is a fourth sine functional converter, the input of which is connected to the output of the second camera angle sensor, the fifth multiplication unit, the second input of which is connected to the output of the second cosine functional converter and the second input of the fourth multiplication unit, the sixth multiplication unit, the second input of which is connected to the output of the sixth a key, a third amplifier and a lateral movement propulsion device, as well as a fourth reference signal source connected in series, the third block is divided I, whose second input is connected to the output of the fifth multiplication unit, the first module capture unit, the fourth adder and the tenth key, the second input of which is connected to the input of the first module acquisition unit, the third - to the output of the seventh key and to the second input of the fourth adder, and the output - to the second inputs of the third multiplication block and the ninth key, the first input of the second adder connected to the second input of the seventh key and through the second block of the module to the output of the first division unit, and the second input to the third input of the seventh key and through the third module capture unit - to the output of the second division unit (RF patent No. 2465168. Bull. No. 30, 2012).

This device in its technical essence is the closest to the proposed solution. The disadvantage of this device is that it provides high-quality control of the PA only when using propulsors with special screws that provide the same traction regardless of the direction of their rotation. But such screws are not effective in the implementation of the main (prevailing) movements of the PA.

The technical problem, which is aimed by the claimed technical solution, is to eliminate the above drawback. That is, ensuring the qualitative (exact) movement of the PA to the detected object in space, regardless of the direction of rotation of any types of screws used in the propulsion of the PA.

The technical result that can be obtained by implementing the proposed solution is expressed in the automatic selection of the required speed of rotation of the propulsion devices PA taking into account the directions of these rotations, in which none of the propulsion devices enters the saturation mode (regardless of the direction of rotation).

The problem is solved in that in the device for controlling the underwater vehicle, containing vertical and horizontal displacements, a camera mounted for rotation, a first sensor for the angle of rotation of the camera and a first threshold element connected in series to the first adder, the first input of which is connected to the output of the first source the reference signal, the second threshold element, the logical element NOT and the logical element OR, the second input of which is connected to the output through the third threshold element of the first adder, the first sine functional converter, the first multiplication unit, the first key, the second input of which is connected to the output of the first threshold element, the first amplifier, the output of which is connected to the input of the vertical movement mover, and the second cosine functional converter, the input of which is connected to the input of the first sine functional Converter and the output of the first sensor of the angle of rotation of the camera, connected in series to the second block of multiplication and the second key, the second input of which is connected to the output of the OR logic element, as well as the second amplifier, the output of which is connected to the input of the horizontal displacement mover, a distance sensor connected in series, the third key, the fourth threshold element, the fourth key, the fifth key, the second input of which is connected to the output of the fourth threshold element, and the sixth key, the output of which is connected to the second inputs of the first and second multiplication blocks, as well as the command sensor, the second reference signal source and the first division block, last the second adder and the seventh key are connected together, as well as the second division unit, the first input of which is connected to the output of the first sine functional converter, and the third reference signal source, the third adder, the fifth threshold element and the eighth key, the second input of which is connected to the sensor output, in series commands and the first input of the third adder, and the output to the third input of the sixth key, and the output of the fifth threshold element is connected to the second input of the fourth key, connected in series e the first multi-level relay element, the input of which is connected to the output of the third key, the third multiplication unit and the ninth key, the output of which is connected to the second inputs of the third adder and the sixth key, connected in series to the second camera angle sensor, the third cosine functional converter and the fourth multiplication unit, the output of which is connected to the first input of the first division unit and the first input of the second multiplication unit, connected in series with the fourth sine functional converter, input for which it is connected to the output of the second camera angle sensor, the fifth multiplication unit, the second input of which is connected to the output of the second cosine functional converter and the second input of the fourth multiplication unit, and the sixth multiplication unit, the second input of which is connected to the output of the sixth key, and also the third amplifier connected to the input of the transverse movement mover, the fourth reference signal source and the third division block connected in series, the first input of which is connected to the output of the fifth block, multiplying the first block of the module capture, the fourth adder and the tenth key, the second input of which is connected to the input of the first block of the module, the third to the output of the seventh key and the second input of the fourth adder, and the output to the second inputs of the third multiplication block and the ninth key, moreover, the first input of the second adder is connected to the second input of the seventh key and through the second block of the module to the output of the first division block, and the second input to the third input of the seventh key and through the third block of the module to the output of the second division block the eleventh key is connected in series, the first signal and second control inputs of which are connected to the output of the first key, and the fifth adder, the second input of which is connected to the second output of the eleventh key, and the output to the input of the first amplifier, the twelfth key connected in series, the first signal and the second control inputs of which are connected to the output of the second key, and the sixth adder, the second input of which is connected to the second output of the twelfth key, and the output to the input of the second amplifier, last the thirteenth key, the first signal and second control inputs of which are connected to the output of the sixth multiplication unit, and the seventh adder, the second input of which is connected to the second output of the thirteenth key, and the output to the input of the third amplifier, the fourth block of taking the module, the input of which is connected to the output of the first camera angle sensor and the input of the first threshold element, and the output is to the second input of the first adder, the fifth reference signal source and the fourteenth key are connected in series, second whose first signal input is connected to the output of the second reference signal source, the third control input is to the output of the fourth multiplication unit, and the output is to the second input of the first division unit, the sixth reference signal source and the fifteenth key are connected in series, the second signal input of which is connected to the fourth output the reference signal source, the third control input is to the output of the fifth multiplication block, and the output is to the second input of the third division block, as well as the seventh reference signal source connected in series la and sixteenth key, the second signal input of which is connected to the output of the third reference signal source, a third control input - to the output of the first sine function converter, while the output - to the second input of the second divider.

A comparative analysis of the proposed technical solution with its analogue and prototype indicates its compliance with the criterion of "Novelty."

The claimed combination of features, given in the characterizing part of the claims, allows you to automatically adjust the speed of rotation of the propulsion devices of the PA taking into account the directions of these rotations and at the same time prevent their entry into saturation regardless of the direction of these rotations.

Figure 1 presents a functional diagram of a device for controlling an underwater vehicle.

The device for controlling the underwater vehicle contains propulsion devices for vertical 1 and horizontal 2 movements, a camera 3 mounted for rotation, a first sensor 4 for the angle of rotation of the camera 3 and a first threshold element 5 connected in series with a first adder 6, the first input of which is connected to the output of the first source 7 the reference signal, the second threshold element 8, the logical element 9 is NOT, and the logical element 10 is OR, the second input of which through the third threshold element 11 is connected to the output of the first adder 6, the next the first sine functional converter 12, the first multiplication unit 13, the first key 14, the second input of which is connected to the output of the first threshold element 5, as well as the first amplifier 15, the output of which is connected to the input of the vertical movement mover 1, and the second cosine functional converter 16 are properly connected the input of which is connected to the input of the first sine functional converter 12 and the output of the first sensor 4 of the angle of rotation of the camera 3, connected in series to the second block 17 multiplication and the second key 18, the second input of which is connected to the output of the OR logic element 10, as well as the second amplifier 19, the output of which is connected to the input of the horizontal displacement motor 2, the distance sensor 20, the third key 21, the fourth threshold element 22, the fourth key 23, the fifth key 24, the second input of which is connected to the output of the fourth threshold element 22, and the sixth key 25, the output of which is connected to the second inputs of the first 13 and second 17 blocks of multiplication, as well as a command sensor 26, a second reference signal source 27 and the first block 2 8 dividing, serially connected to the second adder 29 and the seventh key 30, as well as a second division unit 31, the first input of which is connected to the output of the first sine functional Converter 12, and the third source 32 of the reference signal, serially connected to the third adder 33, the fifth threshold element 34 and the eighth key 35, the second input of which is connected to the output of the sensor 26 commands and the first input of the third adder 33, and the output to the third input of the sixth key 25, and the output of the fifth threshold element 34 is connected to the second input of the fourth lucha 23, connected in series to the first multilevel relay element 36, the input of which is connected to the output of the third key 21, the third multiplication unit 37 and the ninth key 38, the output of which is connected to the second inputs of the third adder 33 and the sixth key 25, connected in series to the second rotation angle sensor 39 cameras 3, a third cosine functional converter 40 and a fourth multiplication unit 41, the output of which is connected to the first input of the first division unit 28 and the first input of the second multiplication unit 17, connected in series to the fourth sine functional converter 42, the input of which is connected to the output of the second sensor 39 of the angle of rotation of the camera 3, the fifth multiplication unit 43, the second input of which is connected to the output of the second cosine functional converter 16 and the second input of the fourth multiplication unit 41, and the sixth multiplication unit 44, the second the input of which is connected to the output of the sixth key 25, as well as a third amplifier 45 connected to the input of the lateral movement propulsion 46, a fourth reference signal source 47 and a third connected in series division lock 48, the first input of which is connected to the output of the fifth multiplication block 43, the first module acquisition unit 49, the fourth adder 50 and the tenth key 51, the second input of which is connected to the input of the first module acquisition unit 49, the third to the output of the seventh key 30 and the second input of the fourth adder 50, and the output to the second inputs of the third block 37 of multiplication and the ninth key 38, and the first input of the second adder 29 is connected to the second input of the seventh key 30 and through the second block 52 of the module to the output of the first division block 28, and second input - to the third input the ode of the seventh key 30 and through the third module picking unit 53 to the output of the second division unit 31, the eleventh key 54 is connected in series, the first signal and second control inputs of which are connected to the output of the first key 14, and the fifth adder 55, the second input of which is connected to the second the output of the eleventh key 54, and the output to the input of the first amplifier 15, the twelfth key 56 connected in series, the first signal and second control inputs of which are connected to the output of the second key 18, and the sixth adder 57, the second input of which connected to the second output of the twelfth key 56, and the output to the input of the second amplifier 19, the thirteenth key 58 connected in series, the first signal and second control inputs of which are connected to the output of the sixth multiplication unit 44, and the seventh adder 59, the second input of which is connected to the second output of the thirteenth key 58, and the output is to the input of the third amplifier 45, the fourth module picking unit 60, the input of which is connected to the output of the first camera rotation angle sensor 4 and the input of the first threshold element 5, and the output to the second input of the first the fifth adder 6, the fifth reference signal source 61 and the fourteenth key 62 connected in series, the second signal input of which is connected to the output of the second reference signal source 27, the third control input is connected to the output of the fourth multiplication unit 41, and the output is to the second input of the first division unit 28, the sixth reference signal source 63 and the fifteenth key 64 are connected in series, the second signal input of which is connected to the output of the fourth reference signal source 47, the third control input is connected to the output of the fifth multiplication block 43, and the output is to the second input of the third division unit 48, as well as the seventh reference signal source 65 and the sixteenth key 66 connected in series, the second signal input of which is connected to the output of the third reference signal source 32, the third control input is to the output of the first sine function converter 12, and the output is to the second input of the second division unit 31. 67 - detected object.

The main objective of the device for controlling the user agent is to ensure the minimum time for his approach to the object 67 in space without collision with him and other objects. Based on this task, it is advisable to maintain its rectilinear movement to the object with the highest possible speed.

The proposed device operates as follows.

Sensor 4 measures the current angle of rotation of camera 3 in a vertical plane relative to the horizontal plane (angle α), in which the X and Y axes are located (where the X axis coincides with the longitudinal axis of the PA), and sensor 39 measures the angle of rotation of this camera relative to the vertical axis Z ( angle β). As a result, the direction of the rectilinear motion of the PA to the object 67 in space along the current direction of the optical axis of the camera 3 is uniquely determined. In this case, along the Z axis, it must move a distance proportional to sinα, along the X axis - proportionally to cosαcosβ, and along the transverse axis Y - proportionally to cosαsinβ . Those. movers 1, 2, and 46 should create traction proportional to sinα, cosαcosβ and cosαsinβ, respectively. If identical screw propulsors are used, then the rotational speeds of their screws should also be proportional to sinα, cosαcosβ and cosαsinβ, respectively, but taking into account the direction of their rotation, since the thrust values of these propellers, taking into account the design features of typical screws, have a different proportional dependence on the speed of their rotation depending from the direction of this rotation.

The functional dependences sinα and cosα are formed at the outputs of the functional converters 12 and 16, and the functional dependences sinβ and cosβ are formed at the outputs of the functional converters 42 and 40, respectively. As a result, the signals U _y sinα, U _y cosβ and U _y cosβ and U _y cosαsinβ are formed at the outputs of blocks 13, 17, and 44, respectively. Moreover, the signal U _y determines the speed of movement of the PA along a straight path to the object 67. It is generated either automatically or by the operator using the command sensor 26, which is a handle with a potentiometer or just any type of potentiometer.

If the keys 14 and 18 are closed, and the signals U _y sinα, U _y cosαcosβ and U _y cosαsinβ, respectively, are received at the first signal and second control inputs of the keys 54, 56 and 58, then the second control inputs of the keys 54, 56 and 58 provide the connection of their first outputs with the first positive inputs of the adders 55, 57, 59, having unit gain. If some of these signals are negative, then, having received the second control inputs of the corresponding keys 54, 56, and 58, they provide a connection of their second outputs with the second positive inputs of the adders 55, 57, 59, with gain factors K _1i, respectively, where i = 55, 57, 59. As a result, the signals KU _y sinα, KU _y cosαcosβ, KU _y cosαsinβ, respectively, are generated at the outputs of adders 55, 57, and 59, where K take either a single value if the corresponding PA mover rotates in one direction, or K = K _1i , if mover i rotates in the opposite direction Ron. The introduction of the K coefficient is necessary since typical propeller propeller propellers have different thrusts at the same speed of rotation, but in opposite directions. Moreover, the specific K _1i may be more or less than one, depending on the design features of the screw of a particular propulsion device.

As a result, signals U _B = KK _B U _y sinα, U _Г = KK _Г U _y cosαcosβ, U _П = KK _П U _y cosαsinβ, where К _В , К _Г , К _П - coefficients amplifiers 15, 19 and 45, respectively, which are selected depending on the hydrodynamic properties of the PA. In this case, the values of K _{1i are} selected taking into account the corresponding values of K _B , K _G , K _P. The thrust created by the thrusters 1, 2 and 46 are proportional to the values of the signals U _B , U _G and U _P supplied to them, which have limitations. These thrusts should provide a linear movement of the PA to the object 67 with the highest possible speed.

The proposed device provides high-quality control of the PA in the presence of underwater currents. In this case, the operator must constantly hold the object 67 in the center of the television monitor, changing the angles α and β of the camera. In this case, the corresponding propulsors, by reducing or increasing their thrust, automatically ensure that the PA approaches the object 67. However, if the flow is significant (for example, the counter flow in the horizontal plane), then the PA for α> 0 (α has a positive value when measured counterclockwise from horizontal plane) will be pressed to the ground until the object 67 is reached. If there are irregularities at the bottom, either the loss of object 67 from view or a collision of the PA with these irregularities are possible. To eliminate this situation, it is necessary to disconnect the propulsion unit 1 of vertical thrust for some minimum permissible angle | α |. The shutdown of the propulsor 1 is provided using the threshold element 5 with the characteristic

, $${\mathrm{<figure-callout\; id="5"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{5\mathrm{at}sx}=\{\begin{array}{l}0PR\mathrm{and}{\mathrm{<figure-callout\; id="5"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{5\mathrm{at}x}<{\mathrm{<figure-callout\; id="5"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{5\mathrm{from}R}\\ \mathrm{one}PR\mathrm{and}{\mathrm{<figure-callout\; id="5"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{5\mathrm{at}x}\ge {\mathrm{<figure-callout\; id="5"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{5\mathrm{from}R}\end{array}$$

,

where U _5out , U _5in - respectively, the output and input signals of this element; U _5cp > 0 is the response value of element 5 (it is determined by the topography and properties of the PA, the nature of the work performed, etc.).

Thus, if | α | reaches a small value, then the threshold element 5 opens the key 14, the mover 1 stops, and the oncoming flow is processed only by mover 2. In this case, the PA approaches the object horizontally. Since camera 3 continues to monitor this object, and the distance between it and the PA decreases, then after a while the value | α | will increase, threshold element 5 will work, including key 14, and mover 1 will start again. This will continue until the user agent approaches object 67.

In the incident flow, a situation arises when a PA can slip an object, passing above it at a certain height, since in the proposed control method, the PA will be at a certain moment of approaching the object when the angle α approaches 90 °, remaining less than 90 ° . In this case, both the flow and the propulsion 2 contribute to an increase in the angle | α |.

If, when the angle α approaches 90 °, the mover 2 is not turned off, then the PA will slip through object 67 at high speed and it will take considerable time and energy loss to return it. To eliminate this situation, use the source of the reference signal 7, which generates a voltage equal to the output signal of the position sensor 4 at | α | = 90 ° and coincides with it in sign. The threshold elements 8 and 11 have characteristics, respectively

; $$U_{11вых}=\{\begin{array}{l}0U_{11вх}\le 0\\ при\\ 1U_{11вх}>0\end{array}$$

, $${\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}sx}=\{\begin{array}{l}0{\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}<U_{8c}\\ PR\mathrm{and}\\ \mathrm{one}{\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}\ge U_{8c}\end{array}$$

; $$U_{\mathrm{eleven}\mathrm{at}sx}=\{\begin{array}{l}0U_{\mathrm{eleven}\mathrm{at}x}\le 0\\ PR\mathrm{and}\\ \mathrm{one}{U}_{\mathrm{eleven}\mathrm{at}x}>0\end{array}$$

,

where U _iout , U _iin - output and input signals of the corresponding threshold elements (i = 8, 11); U _8c <0 is the value of the input signal at which threshold element 8 is triggered.

, $$U_{10вых}=\{\begin{array}{l}1U_{11вх}>0илиU_{8вх}<U_{8c}\\ при\\ 0U_{8c}\le U_{8вх}\le 0\end{array}$$

.The output signals of the elements NOT 9 and OR 10 are determined by the relations $$U_{}$$$${}_{9\mathrm{at}sx}=\{\begin{array}{l}\mathrm{one}{\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}<U_{8c}\\ PR\mathrm{and}\\ 0{\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}\ge U_{8c}\end{array}$$

, $${\mathrm{<figure-callout\; id="10"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{10\mathrm{at}sx}=\{\begin{array}{l}\mathrm{one}{U}_{\mathrm{eleven}\mathrm{at}x}>0\mathrm{and}l\mathrm{and}{\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}<U_{8c}\\ PR\mathrm{and}\\ 0U_{8c}\le {\mathrm{<figure-callout\; id="8"\; label="U"\; filenames="00000057.png"\; state="\{\{state\}\}">U</figure-callout>}}_{8\mathrm{at}x}\le 0\end{array}$$

.

As a result, mover 2 will always stop when the condition U _8c ≤U _8in ≤ _{0 is} fulfilled before the _user jumps through object 67. The latter follows from the fact that elements 8-10, using key 18, open the power supply circuit of mover 2 when | α | to 90 °. The value of U _{8c is} determined in advance and depends on the flow velocity, the hydrodynamic properties of the PA, the nature of the work performed, etc.

After disabling mover 2, movement to object 67 occurs only under the action of mover 1 vertically. If, in the process of approaching the PA with this object, the angle | α | decreases, then key 18 closes again, starting mover 2, and the user agent again begins to approach object 67 until the condition U _8c ≤U _8in ≤0 appears.

If, after the stop of mover 2, the current moves the PA horizontally so that the angle | α | becomes more than 90 °, then the threshold element 11 closes the key 18, but the mover 2 already creates traction in the opposite direction with respect to the flow, preventing the PA from slipping strongly through the object 67. Since in this case, until | α | values of 90 °, mover 2 is disabled, then the PA at the moment | α | = 90 ° has a low horizontal speed, mainly determined by the value of the associated horizontal current. As a result, the PA skips the object 67 at a low speed, which is quickly extinguished by the reverse inclusion of the propulsion device 2.

If mover 2 shifts the PA so that | α | If it becomes less than 90 °, then the power supply circuit of propulsion unit 2 opens again. In this case, the horizontal component of the speed is automatically extinguished by the oncoming flow.

In the same way, the device under consideration also works at α <0, when floating objects or objects held in the water column at anchors are located above the PA. In this case, the module taking unit 60 eliminates the negative sign of the angle a for that part of the device that is designed to ensure the operation of the PA in the presence of currents. In this case, the movement of the PA to the object 67 located above it will be provided with the help of the corresponding elements, the work of which does not depend on the sign of α.

The operation of the PA is also described similarly in the lateral flow, which is directed towards the oncoming or simultaneously moving PA. Suppose that there is a counter lateral flow. Then, with the described control algorithm, a situation arises when the distance to the object 67 along the Z and X axes tends to zero, and the distance along the Y axis is large. As a result, the angle α will tend to zero, and the angle | β | - to 90 °. In this situation, using the threshold element 5, the propulsion unit 1 will be turned off. The control signal U _Г will also be close to zero. The remaining distance not traveled along the Y axis will be reduced to zero by the drive 46, to the input of which a signal U _P will be supplied, having a cosαsinβ component close to the maximum. The described situation arises only with a strong lateral oncoming flow. With insignificant flows, the movement to the object 67 will be carried out along some smooth curvilinear spatial path.

In the case of associated lateral flow, the distance to the object 67 along the Y axis can be zeroed somewhat earlier than along the X and Z axes. In this case, the sign of sinβ will change, and therefore the mover 46 will reverse. As a result, the PA will also have a smooth approach to object 67.

Obviously, the faster the PA will move to the detected object 67 along a straight path, the faster it will reach it. However, if the operator’s speed of movement of the user agent and the spatial location of the rectilinear trajectory are such that some of its movers, due to the limitation of their power, become saturated, the control system should automatically (regardless of the operator) change the mode of movement of the user agent in such a way as to exclude these saturation and thereby prevent the descent of the PA from a given trajectory and the loss of visual contact with the object 67.

, $$U_{В}^{макс}/{К}_{В}$$

, $$U_{П}^{макс}/{К}_{П}$$

, а с выходов источников 61, 63 и 65 - на первые сигнальные входы этих ключей соответственно, равны $$U_{Г}^{макс}/\left({К}_{Г}{К}_{57}\right)$$

, $$U_{В}^{макс}/\left({К}_{В}{К}_{55}\right)$$

, $$U_{П}^{макс}/\left({К}_{П}{К}_{59}\right)$$

, где $$U_{Г}^{макс}$$

, $$U_{В}^{макс}$$

, $$U_{П}^{макс}$$

- максимально возможные значения входных сигналов движителей 2, 1 и 46 соответственно, при которых еще не наступает их насыщение. Если на третьи управляющие входы ключей 62, 66, 64 поступают положительные сигналы, то эти ключи соединяют выходы источников 27, 32 и 47 соответственно со входами блоков деления 28, 31 и 48. Если же на третьи входы ключей 62, 66, 64 поступают отрицательные сигналы, то эти ключи соединяют выходы источников 61, 65 и 63 соответственно со входами блоков деления 28, 31 и 48. В результате на выходах этих блоков формируются сигналы, соответствующие максимально допустимым значениям управляющих воздействий, при которых движители 2, 1 и 46 еще не входят в насыщение при текущих значениях углов α и β: $$U_{Г}^{у}=\frac{U_{Г}^{макс}}{{К}_{Г}\cos \alpha \cos \beta }$$

, $$U_B^{у}=\frac{U_B^{макс}}{{К}_B\sin \alpha }$$

, $$U_{П}^{у}=\frac{U_{П}^{макс}}{{К}_{П}\cos \alpha \sin \beta }$$

- соответственно при положительных значениях сигналов, поступающих на сигнальные входы ключей 62, 66, 64, и $$U_{Г}^{у}=\frac{U_{Г}^{макс}}{{К}_{Г}{К}_{57}\cos \alpha \cos \beta }$$

, $$U_{В}^{у}=\frac{U_{В}^{макс}}{{К}_{В}{К}_{55}\sin \alpha }$$

, $$U_{П}^{у}=\frac{U_{П}^{макс}}{{К}_{П}{К}_{59}\cos \alpha \sin \beta }$$

- соответственно при отрицательных значениях сигналов, поступающих на управляющие входы ключей 62, 66, 64. В результате при отсутствии подводных течений для обеспечения прямолинейного перемещения ПА к объекту 67 в качестве управляющего должно быть выбрано минимальное из трех значений $$U_{Г}^{у}$$

, $$U_{В}^{у}$$

или $$U_{П}^{у}$$

.The signals from the outputs of sources 27, 32 and 47 to the second signal inputs of the keys 62, 66, 64, respectively, are equal $$U_G^{m\mathrm{but}\mathrm{to}\mathrm{from}}/{\mathrm{TO}}_G$$

, $$U_{\mathrm{AT}}^{m\mathrm{but}\mathrm{to}\mathrm{from}}/{\mathrm{TO}}_{\mathrm{AT}}$$

, $$U_P^{m\mathrm{but}\mathrm{to}\mathrm{from}}/{\mathrm{TO}}_P$$

, and from the outputs of sources 61, 63 and 65 - to the first signal inputs of these keys, respectively, are equal $$U_G^{m\mathrm{but}\mathrm{to}\mathrm{from}}/\left({\mathrm{TO}}_G{\mathrm{TO}}_{57}\right)$$

, $$U_{\mathrm{AT}}^{m\mathrm{but}\mathrm{to}\mathrm{from}}/\left({\mathrm{TO}}_{\mathrm{AT}}{\mathrm{TO}}_{55}\right)$$

, $$U_P^{m\mathrm{but}\mathrm{to}\mathrm{from}}/\left({\mathrm{TO}}_P{\mathrm{TO}}_{59}\right)$$

where $$U_G^{m\mathrm{but}\mathrm{to}\mathrm{from}}$$

, $$U_{\mathrm{AT}}^{m\mathrm{but}\mathrm{to}\mathrm{from}}$$

, $$U_P^{m\mathrm{but}\mathrm{to}\mathrm{from}}$$

- the maximum possible values of the input signals of the propulsors 2, 1 and 46, respectively, at which they are not yet saturated. If positive signals are received at the third control inputs of the keys 62, 66, 64, then these keys connect the outputs of the sources 27, 32, and 47, respectively, with the inputs of the division blocks 28, 31, and 48. If negative inputs are received at the third inputs of the keys 62, 66, 64 signals, then these keys connect the outputs of the sources 61, 65 and 63, respectively, with the inputs of the division blocks 28, 31 and 48. As a result, the outputs of these blocks generate signals corresponding to the maximum allowable values of the control actions, in which the movers 2, 1 and 46 are not yet enter saturation at current x values of angles α and β: $$U_G^{\mathrm{at}}=\frac{U_G^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_G\cos \alpha \cos \beta }$$

, $$U_B^{\mathrm{at}}=\frac{U_B^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_B\sin \alpha }$$

, $$U_P^{\mathrm{at}}=\frac{U_P^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_P\cos \alpha \sin \beta }$$

- respectively, with positive values of the signals received at the signal inputs of the keys 62, 66, 64, and $$U_G^{\mathrm{at}}=\frac{U_G^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_G{\mathrm{TO}}_{57}\cos \alpha \cos \beta }$$

, $$U_{\mathrm{AT}}^{\mathrm{at}}=\frac{U_{\mathrm{AT}}^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_{\mathrm{AT}}{\mathrm{TO}}_{55}\sin \alpha }$$

, $$U_P^{\mathrm{at}}=\frac{U_P^{m\mathrm{but}\mathrm{to}\mathrm{from}}}{{\mathrm{TO}}_P{\mathrm{TO}}_{59}\cos \alpha \sin \beta }$$

- respectively, at negative values of the signals arriving at the control inputs of the keys 62, 66, 64. As a result, in the absence of undercurrents, to ensure the rectilinear movement of the PA to object 67, the minimum of three values should be selected as the control $$U_G^{\mathrm{at}}$$

, $$U_{\mathrm{AT}}^{\mathrm{at}}$$

or $$U_P^{\mathrm{at}}$$

.

, $$k_1{U}_y=k_1{U}_{Г}^y$$

или $$k_1{U}_{П}=k_1{U}_{П}^y$$

. Если ПА приближается к объекту 67 на расстояние l_i, то на выходе блока 37 сигнал управления движителями уменьшается до величин $$k_1{U}_y=k_1{U}_{Г}^y$$

, $$k_1{U}_y=k_1{U}_B^y$$

или $$k_1{U}_y=k_1{U}_{П}^y$$

, обеспечивая автоматическое снижение скорости движения ПА по прямолинейной траектории в k_i раз.Since, over time, the distance between the object 67 and the PA decreases, and the speed of its rectilinear movement is the maximum possible, then without a timely decrease in this speed, a collision of the PA and the object is possible even in the event of shutdown of the propulsion The user agent will continue to move toward the object by inertia. Therefore, when reaching a distance l ₁ between the specified object and the PA, the speed of the latter should be automatically reduced by a factor of k ₁ without the PA descending from the straight path to the object. This can be done using the relay element 36 and block 37, the output of which signals are generated $$k_{\mathrm{one}}{U}_y=k_{\mathrm{one}}{U}_B^y$$

, $$k_{\mathrm{one}}{U}_y=k_{\mathrm{one}}{U}_G^y$$

or $$k_{\mathrm{one}}{U}_P=k_{\mathrm{one}}{U}_P^y$$

. If the PA approaches object 67 at a distance l _i , then at the output of block 37 the drive control signal decreases to $$k_{\mathrm{one}}{U}_y=k_{\mathrm{one}}{U}_G^y$$

, $$k_{\mathrm{one}}{U}_y=k_{\mathrm{one}}{U}_B^y$$

or $$k_{\mathrm{one}}{U}_y=k_{\mathrm{one}}{U}_P^y$$

, providing an automatic decrease in the speed of movement of the PA along a straight path in k _i times.

. Если он положителен, то $$\left|U_{Г}^{у}\right|>\left|U_B^y\right|$$

. Тогда выход ключа 30 соединяется с выходом блока 53 и на выходе этого ключа появляется сигнал $$\left|U_B^y\right|$$

, а на выходе сумматора 50 - сигнал $$\left|U_{П}^{у}\right|-\left|U_B^y\right|$$

. Если этот сигнал положителен, то $$\left|U_{П}^{у}\right|>\left|U_B^y\right|$$

. Тогда выход ключа 51 соединяется с выходом блока 53 и на выходе ключа 51, а также на выходе блока 37 и ключей 38, 25 появляется минимальный из трех возможных сигналов: $$U_y=\left|U_B^y\right|$$

(предельно возможный для движителя 1 при текущем значении углов α и β, если ПА находится на большом расстоянии от объекта 67 и U_36вх>l_l). В результате на вторые входы блоков умножения 13, 17 и 44 также будет подаваться управляющий сигнал $$U_y=\left|U_B^y\right|$$

.At the output of the adder 29, a signal is formed equal to $$|\; |\; |U_G^{\mathrm{at}}|\; |\; |-|\; |\; |U_B^y|\; |\; |$$

. If it is positive, then $$|\; |\; |U_G^{\mathrm{at}}|\; |\; |>|\; |\; |U_B^y|\; |\; |$$

. Then the output of key 30 is connected to the output of block 53 and a signal appears at the output of this key $$|\; |\; |U_B^y|\; |\; |$$

, and at the output of the adder 50 is a signal $$|\; |\; |U_P^{\mathrm{at}}|\; |\; |-|\; |\; |U_B^y|\; |\; |$$

. If this signal is positive, then $$|\; |\; |U_P^{\mathrm{at}}|\; |\; |>|\; |\; |U_B^y|\; |\; |$$

. Then the output of the key 51 is connected to the output of the block 53 and at the output of the key 51, as well as the output of the block 37 and the keys 38, 25, the minimum of three possible signals appears: $$U_y=|\; |\; |U_B^y|\; |\; |$$

(the maximum possible for propulsion 1 at the current value of the angles α and β, if the PA is at a great distance from the object 67 and U _36in > l _l ). As a result, a control signal will also be supplied to the second inputs of the multiplication blocks 13, 17, and 44 $$U_y=|\; |\; |U_B^y|\; |\; |$$

.

отрицательна, то $$\left|U_{В}^{у}\right|>\left|U_{П}^y\right|$$

и на выходе ключей 51, 38 и 25 появится минимальный из текущих сигналов: $$U_y=\left|U_{П}^y\right|$$

(предельно возможный для движителя 46 при текущем значении углов α и β).If the difference $$|\; |\; |U_P^{\mathrm{at}}|\; |\; |-|\; |\; |U_B^y|\; |\; |$$

negative then $$|\; |\; |U_{\mathrm{AT}}^{\mathrm{at}}|\; |\; |>|\; |\; |U_P^y|\; |\; |$$

and at the output of the keys 51, 38 and 25, the minimum of the current signals will appear: $$U_y=|\; |\; |U_P^y|\; |\; |$$

(the maximum possible for mover 46 at the current value of the angles α and β).

отрицателен, то $$\left|U_{В}^{у}\right|>\left|U_{Г}^y\right|$$

и на выходе ключа 30 появится сигнал $$\left|U_{Г}^{у}\right|$$

, а на выходе сумматора 50 - сигнал $$\left|U_{П}^{у}\right|-\left|U_{Г}^y\right|$$

. Если этот сигнал положителен, то $$\left|U_{П}^{у}\right|>\left|U_{Г}^y\right|$$

и на выходе ключей 38, 25 и 51 появится минимальный из трех возможных сигналов: $$U_y=\left|U_{Г}^y\right|$$

(предельно возможный для движителя 2 при текущем значении углов α и β), который поступит на вторые входы блоков умножения 13, 17 и 44. Если же при $$\left|U_{В}^{у}\right|-\left|U_{Г}^y\right|$$

будет выполняться неравенство $$\left|U_{Г}^{у}\right|>\left|U_{П}^y\right|$$

, то на вторые входы блоков умножения 13, 17 и 44 будет подан сигнал $$U_y=\left|U_{П}^y\right|$$

.If the signal $$|\; |\; |U_G^{\mathrm{at}}|\; |\; |-|\; |\; |U_B^y|\; |\; |$$

negative then $$|\; |\; |U_{\mathrm{AT}}^{\mathrm{at}}|\; |\; |>|\; |\; |U_G^y|\; |\; |$$

and at the output of key 30 a signal appears $$|\; |\; |U_G^{\mathrm{at}}|\; |\; |$$

, and at the output of the adder 50 is a signal $$|\; |\; |U_P^{\mathrm{at}}|\; |\; |-|\; |\; |U_G^y|\; |\; |$$

. If this signal is positive, then $$|\; |\; |U_P^{\mathrm{at}}|\; |\; |>|\; |\; |U_G^y|\; |\; |$$

and at the output of keys 38, 25 and 51, the minimum of three possible signals appears: $$U_y=|\; |\; |U_G^y|\; |\; |$$

(the maximum possible for mover 2 at the current value of the angles α and β), which will go to the second inputs of the multiplication blocks 13, 17 and 44. If, however, $$|\; |\; |U_{\mathrm{AT}}^{\mathrm{at}}|\; |\; |-|\; |\; |U_G^y|\; |\; |$$

inequality will be fulfilled $$|\; |\; |U_G^{\mathrm{at}}|\; |\; |>|\; |\; |U_P^y|\; |\; |$$

, then the second inputs of the multiplication blocks 13, 17 and 44 will be given a signal $$U_y=|\; |\; |U_P^y|\; |\; |$$

.

With this formation of the signal U _y in the absence of currents, a rectilinear movement of the PA to the object 67 at a large distance from it will always be ensured.

The relay element 36 has the characteristic U _36out = 1, if the PA is at a great distance from the object 67 and U _36in > 1 ₁ ; U _36out = k ₁ <1, if the PA begins to approach this object, l ₁ > U _36out > l ₂ ; l ₁ > U _36out = k ₂ <k ₁ if the PA is even closer to the object, and l ₂ > U _36in > l ₃ ; U _36out = k _i <k _i-1 , if l _i > U _36in > l _{i + 1} , etc., where i = 1, 2, ..., n. Here n is any number specified by the designer; k _i , l _i - any real positive numbers specified by the designer of the PA and depending on the dynamic properties of the PA and the features of its interaction with a viscous medium; l _i - the distance from the PA to the object 67, measured by the sensor 20.

Obviously, in the described algorithm for generating the control signal, the command sensor 26 (manual control) must be disabled. Disabling this sensor is provided using key 25. The specified automatic control algorithm takes place only at significant distances between the PA and object 67. This distance is measured using sensor 20 and, if it becomes less than a certain predetermined value, then threshold element 22 and the key are triggered 25 connects the second inputs of the multiplication blocks 13, 17 and 44 with the output of the command sensor 26. As a result, the user switches to manual control of the PA near the object 67. The response threshold of element 22 is selected in advance. It depends on the braking path of the PA, which in turn is determined by the hydrodynamic properties of this device and the possible speed of its movement in automatic mode.

If in the process of approaching the PA to the object 67, regardless of the distance between them, only manual control is required, the output of the sensor 20 is manually disconnected from the input of the threshold element 22 using the key 21. As a result, regardless of the distance between the PA and the object 67, the output signal of the threshold element 22 is equal to zero and the key 24 will connect the corresponding inputs of blocks 13, 17 and 44 with the output of the command sensor 26.

If again you need to switch to automatic control, the key 21 is closed. However, when other PA operating around the object 67 cross the trajectory of the PA in question, it may be necessary to maneuver with its speed. In this case, the automatic mode of movement of the user agent to object 67 without equipping it with special means of detecting other user agents and protection against collision is not possible. In this situation, continuous manual control is required. Moreover, if extraneous moving devices do not appear in the area of the PA’s movement, then the PA’s movement to the object 67 should still be carried out along a straight path and at maximum speed. Moreover, this speed at any time should be reduced by the operator, if other PAs are expected to appear on the trajectory of movement or near it.

, $$k_i\left|U_{Г}^y\right|$$

или $$k_i\left|U_{П}^y\right|$$

. Если эта разность отрицательна, то ни один из трех движителей еще не входит в насыщение и сигнал управления U_y, вырабатываемый оператором с помощью датчика команд 26, способен перемещать ПА по прямолинейной траектории к объекту 67. В этом случае ключ 23, на вход которого поступает нулевой сигнал с порогового элемента 34, размыкает цепь даже при значительном расстоянии до объекта 67 и на первый вход ключа 25 поступает нулевой управляющий сигнал, который отключает входы блоков 13, 17 и 44 от выхода ключа 38 и соединяет их с выходом ключа 35, через который проходит сигнал U_y от датчика команд 26.In this situation, the key 24 is manually switched by the operator and connects the output of the key 23 with the first input of the key 25. At the output of the adder 33, a signal is generated equal to the difference between the signal generated by the command sensor 26 and the smallest of the signals $$k_i|\; |\; |U_B^y|\; |\; |$$

, $$k_i|\; |\; |U_G^y|\; |\; |$$

or $$k_i|\; |\; |U_P^y|\; |\; |$$

. If this difference is negative, then none of the three movers is still saturated and the control signal U _y generated by the operator using the command sensor 26 is capable of moving the user agent along a straight path to object 67. In this case, the key 23, at the input of which the zero signal from the threshold element 34, opens the circuit even at a considerable distance from the object 67, and the first input of the key 25 receives a zero control signal that disconnects the inputs of the blocks 13, 17 and 44 from the output of the key 38 and connects them to the output of the key 35, through which rohodit signal U _y commands from the sensor 26.

If the output signal of the adder 33 becomes positive, then the rectilinear movement of the PA to the object 67 under the action of the signal U _y from the output of the sensor 26 becomes impossible. In this situation, the operator tries to set such a speed of movement of the user agent that it is not able to work out in the process of rectilinear movement to object 67, because one of the movers is saturated. The mistake made by the operator should be immediately corrected by the automatic control system. In this case, the positive signal from the output of the adder 33 causes the threshold element 34 to work. As a result, using the key 23, the output of the threshold element 22 is connected to the first input of the key 25. Since the operator can set a high speed of movement only at a considerable distance from object 67, the signal the output of the threshold element 22 is not equal to zero. As a result, the key 25 automatically removes the operator from the control of the user agent and regardless of the mistake made by him, the user agent will continue to move to the object 67 in the automatic mode in a straightforward and straightforward manner.

If other objects appear on the path of the PA, the operator reduces the signal U _y from the output of the command sensor 26. As a result, the signal from the output of the adder 33 again becomes negative, the output of the threshold element 34 is reset, and the key 23 opens. In this case, the key 25 will again connect the output of the sensor 26 to the inputs of blocks 13, 17 and 44 and the PA will again obey the operator’s command, switching to manual control. This manual control will continue until the operator makes another error and sets using the sensor 26 which is not realized when the rectilinear movement to the object 67 speed of movement of the PA. With a new operator error, the system will again transfer the user agent to automatic control. As a result, the user agent will always move towards the target along the shortest straight-line path regardless of the operator’s actions. This saves the energy spent on moving and reduces the time of the PA approach to the detected objects 67.

If unexpected obstacles to the goal are not expected, then the operator can again switch to fully automatic control of the user agent with the maximum possible speed of its rectilinear movement, manually connecting the output of the threshold element 22 with the input of the key 25 using the key 24.

, или $$k_i{U}_y=k_i\left|U_{Г}^y\right|$$

, или $$k_i{U}_y=k_i\left|U_{П}^y\right|$$

.If the distance from the PA to the object 67 decreases to such a value that a zero signal appears from the output of the threshold element 22, then through the key 23 closed by a non-zero signal from the output of the threshold element 34, in all cases the PA control will switch to manual mode from the sensor 26 even then when the operator uses this sensor to produce an unacceptably large signal for the rectilinear movement of the PA to object 67 (taking into account saturation of the movers). In this situation, to eliminate the operator’s error, switching to automatic operation mode (at a small distance from the user agent to object 67) is no longer possible. Therefore, an erroneously large control signal generated by the operator using the sensor 26, in order to maintain a rectilinear movement to the object 67, should not go to the inputs of blocks 13, 17 and 44, as well as the movers 1, 2 and 46. Disabling this erroneous signal is carried out with the key 35, to the control input of which a nonzero signal from the threshold element 34 is supplied. In this case, all the movers cease to work until the control signal generated by the sensor 26 is larger than the signal $$k_i{U}_y=k_i|\; |\; |U_B^y|\; |\; |$$

, or $$k_i{U}_y=k_i|\; |\; |U_G^y|\; |\; |$$

, or $$k_i{U}_y=k_i|\; |\; |U_P^y|\; |\; |$$

.

, или $$k_i{U}_y=k_i\left|U_{Г}^y\right|$$

, или $$k_i{U}_y=k_i\left|U_{П}^y\right|$$

, то на выходе сумматора 33 появится отрицательный сигнал, а на выходе порогового элемента 34 - нулевой сигнал, обеспечивающий замыкание ключа 35, который в свою очередь обеспечит прохождение создаваемого оператором уменьшенного (допустимого) сигнала на входы блоков умножения 13, 17, 44 и движителей 1, 2, 46. В результате прямолинейное движение ПА к объекту 67 будет продолжено с необходимой малой скоростью.In this situation, the user agent will continue to move toward object 67 only by inertia and at a low speed due to a preliminary reduction of the control signals by k _i despite the unacceptably large signals generated by the sensor 26. Having sensed the inhibition of the user agent, the operator must understand his error associated with the formation of a large signal U _y , and reduce it. If this control signal becomes smaller $$k_i{U}_y=k_i|\; |\; |U_B^y|\; |\; |$$

, or $$k_i{U}_y=k_i|\; |\; |U_G^y|\; |\; |$$

, or $$k_i{U}_y=k_i|\; |\; |U_P^y|\; |\; |$$

then a negative signal will appear at the output of the adder 33, and a zero signal will be output at the output of the threshold element 34, which will ensure that the key 35 is closed, which in turn will allow the operator-generated reduced (acceptable) signal to pass to the inputs of the multiplication blocks 13, 17, 44 and propulsors 1 , 2, 46. As a result, the rectilinear motion of the PA to object 67 will continue at the required low speed.

If the operator wants to quickly destroy the object 67 at a high speed of the rectilinear movement of the PA by ramming, then he must manually transfer the key 38 from the connection mode to the output of the block 37 to the mode of its connection with the output of the key 51, ensuring the connection of the output of the key 51 with the inputs of the adder 33 and the key 25.

Thus, the proposed device for controlling the PA allows automatic and manual control modes for the approximation of the PA with the object 67, while maintaining the rectilinear movement of the PA to this object with the highest possible speed even with different directions of rotation of the propeller screws.

Claims (1)

A device for controlling an underwater vehicle containing vertical and horizontal displacement drivers, a camera mounted for rotation, a first camera angle sensor and a first threshold element connected in series to a first adder, the first input of which is connected to the output of the first reference signal source, the second threshold element, logical element NOT and logical element OR, the second input of which is connected through the third threshold element to the output of the first adder, sequentially connected the first sine functional converter, the first multiplication unit, the first key, the second input of which is connected to the output of the first threshold element, the first amplifier, the output of which is connected to the input of the vertical displacement motor, and the second cosine functional converter, the input of which is connected to the input of the first sine functional converter and the output of the first camera angle sensor, connected in series to the second multiplication unit and the second key, the second input of which is connected is connected to the output of the OR logic element, as well as a second amplifier, the output of which is connected to the input of the horizontal displacement mover, a distance sensor connected in series, a third key, a fourth threshold element, a fourth key, a fifth key, the second input of which is connected to the output of the fourth threshold element, and the sixth key, the output of which is connected to the second inputs of the first and second multiplication units, as well as the command sensor, the second reference signal source and the first division unit, connected in series to the second sum p and the seventh key, as well as the second division unit, the first input of which is connected to the output of the first sine functional converter, and the third reference signal source, the third adder, the fifth threshold element and the eighth key in series, the second input of which is connected to the output of the command sensor and the first the input of the third adder, and the output to the third input of the sixth key, and the output of the fifth threshold element is connected to the second input of the fourth key, sequentially connected to the first multilevel relay element t, the input of which is connected to the output of the third key, the third multiplication unit and the ninth key, the output of which is connected to the second inputs of the third adder and the sixth key, serially connected to the second camera angle sensor, the third cosine functional converter and the fourth multiplication unit, the output of which is connected to the first input of the first division unit and the first input of the second multiplication unit, connected in series with the fourth sine functional converter, the input of which is connected to the output of the second the angle of rotation of the camera, the fifth multiplication unit, the second input of which is connected to the output of the second cosine functional converter and the second input of the fourth multiplication unit, and the sixth multiplication unit, the second input of which is connected to the output of the sixth key, and also the third amplifier connected to the input of the transverse displacements, a fourth reference signal source and a third division block connected in series, the first input of which is connected to the output of the fifth multiplication block, the first module taking block, fourth the fifth adder and the tenth key, the second input of which is connected to the input of the first block of the module, the third to the output of the seventh key and to the second input of the fourth adder, and the output to the second inputs of the third multiplication block and the ninth key, and the first input of the second adder is connected to the second input of the seventh key and through the second block of taking the module to the output of the first block of division, and the second input to the third input of the seventh key and through the third block of taking the module to the output of the second block of division, characterized in that it is additionally entered the eleventh key is connected in series, the first signal and second control inputs of which are connected to the output of the first key, and the fifth adder, the second input of which is connected to the second output of the eleventh key, and the output to the input of the first amplifier, the twelfth key connected in series, the first signal and second the control inputs of which are connected to the output of the second key, and the sixth adder, the second input of which is connected to the second output of the twelfth key, and the output to the input of the second amplifier, in series a single thirteenth key, the first signal and second control inputs of which are connected to the output of the sixth multiplication unit, and the seventh adder, the second input of which is connected to the second output of the thirteenth key, and the output to the input of the third amplifier, the fourth unit of taking the module, the input of which is connected to the output the first sensor of the angle of rotation of the camera and the input of the first threshold element, and the output to the second input of the first adder, connected in series to the fifth source of the reference signal and the fourteenth key, the second signal the input of which is connected to the output of the second reference signal source, the third control input is to the output of the fourth multiplication block, and the output is to the second input of the first division block, the sixth reference signal source and the fifteenth key are connected in series, the second signal input of which is connected to the output of the fourth reference source signal, the third control input - to the output of the fifth block of multiplication, and the output - to the second input of the third block of division, as well as sequentially connected to the seventh source of the reference signal and sixteen the third key, the second signal input of which is connected to the output of the third source of the reference signal, the third control input to the output of the first sine functional converter, and the output to the second input of the second division block.

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