Algorithms of dynamic positioning of underwater vehicles in space

摘要

In article the methods of synthesis optimum in sense of square-law criterion of system of dynamic positioning of sea vehicle in the given point of space are considered. The system provides independent control for each of six degrees of freedom in the body-fixed system of coordinates, that essentially raises quality of management. The system consists of a nonlinear regulator of the top level, which uses the current coordinates and forms a vector of control in the body-fixed system of coordinates. If not all coordinates (parameters of movement of vehicle) are measured, the observer (noolinear Kalman-Bucy filter, estimating missing coordinate) is used. The synthesized thus vector of control is distributed on the thrusters-bottom level of management. For reductton of number of inclusions of the actuators the filters lowering high frequency wave components are used. The example of account of such system and results of modeling is resulted.