autonomous vehicle океанологической equipment to study the surface layer of the ocean

摘要

autonomous vehicle u043eu043au0435u0430u043du043eu043bu043eu0433u0438u0447u0435u0441u043au043eu0439 equipment to study the surface layer of the ocean, containing the body, constructed in the form of hydrodynamic body with gay u0440u043cu043eu043eu0442u0441u0435u043au043eu043c, propulsion, the depth of the sensor depth and the fact that, in order to enhance the stability of the vehicle in the horizontal u043fu043bu043eu0441u043au043eu0441 ti in the conditions of unrestin the depth of the vertical accelerations are the centre of gravity of the carrier, the two u0441u0443u043cu043cu0438u0440u0443u044eu0449u0438u0445 integrator, two u0441u0443u043cu043cu0430u0442u043eu0440u0430 and five large-scale converters and the depth of the sensor is mounted on the carrier and is made as a hydrostatic pressure sensor, the output of which in the first large-scale u043fu0440u0435u043eu0431u0440u0430u0437u043eu0432u0430u0442u0435 u0432u044bu0447u0438u0442u0430u044eu0449u0438u043c u0432u0445u043eu0434u0430u043c) is connected to the first and second integrators.solution the sensor vertical accelerations point masses connected via a converter to the second u0441u0443u043cu043cu0438u0440u0443u044eu0449u0435u043cu0443 first and through the third major change u0440u0430u0437u043eu0432u0430u0442u0435u043bu044c - u0441u0443u043cu043cu0438u0440u0443u044eu0449u0435u043cu0443 entrance second integrators, a first integrator is connected to the first u0441u0443u043cu043cu0430u0442u043eu0440u0430 u0432u044bu0447u0438u0442u0430u044eu0449u0435u043cu0443 entrance and through the fourth largest p u0440u0435u043eu0431u0440u0430u0437u043eu0432u0430u0442u0435u043bu044c u0432u044bu0447u0438u0442u0430u044eu0449u0435u043cu0443 entrance to the second u0441u0443u043cu043cu0430u0442u043eu0440u0430,solution a second integrator is connected to the first u0441u0443u043cu043cu0430u0442u043eu0440u0430 u0441u0443u043cu043cu0438u0440u0443u044eu0449u0435u043cu0443 entrance and through the fifth largest u0441u0443u043cu043cu0438u0440u0443u044eu0449u0435u043cu0443 converter to the second u0441u0443u043cu043cu0430u0442u043eu0440u0430 in the ratio of coefficients of the second and first large-scale converters still square continuous time integrating the first integration the torahrelated factors of the third and the first large-scale converters numerically still square continuous time integration of the second integrator ratios of the fourth and fifth scale converters numerically equal continuous time integrating the first and second integrators u0441u043eu043eu0442u0432u0435 u0442u0441u0442u0432u0435u043du043du043e.