An apparatus for controlling undersea robots

摘要

A device for controlling an underwater robot, comprising a first, second and third adders, wherein the second and third adders of first inputs connected to outputs of the first and second setting devices signal, respectively, series-connected first multiplier, a first adder, a second input coupled to an output of the first sensor velocity, a first amplifier and a first mover and a second multiplier having a first input connected to the output of the third adder and an output - to the third input of the first adder, characterized in that h then it is further administered serially connected third multiplier having a first input connected to the output of the third adder, the fourth adder, the second amplifier and a second propulsion device serially connected third setpoint signal, a fifth adder, the third amplifier and the third mover and the first, second and third position sensors, whose outputs are connected to second inputs of the second, third and fifth adders, respectively, a second speed sensor, the output of which is connected to the second input of the fourth summato pa, the third input of which via a fourth multiplier connected to an output of the second adder and to the first inputs of the first and fifth multipliers, the third speed sensor, the output of which is connected to the third input of the fifth adder, the fourth input of which is connected to the output of the fifth multiplier connected second input with the output of the first sine function converter and an input to the first divider, the second input of which is connected to the first inputs of the sixth and seventh multiplication blocks through the first and cosine functional