Corresponding author: Danilova Svetlana K., Ph.D., Leading Researcher, V. A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow, 117997, Russian Federation, e-mail: lab45_1@ipu.ru

Received on September 14, 2016
Accepted on September 23, 2016

The paper concerns the design automation for the marine underwater object route control using “Wanderer” software. Marine underwater object (MUO) model is presented as a complex system of the non-linear differential equations of a high order. MUO control is a network structure by its nature (performed from several control stations). It is multidimensional, multichannel and carried out with the constrained maneuvering phase coordinates using several control facilities of the hydrodynamic and hydrostatic nature. The former group includes the hydrodynamic planes (rudder and planes), which allow MUO maneuver in space. The hydrodynamic plane's control efficiency depends on MUO velocity and their steering angles, permissive and actual values. The hydrostatic control facilities (balloons) are used, when a vessel is stopped. During the considered control mode we use balloons to make the ballast compensate for the squeezing forces and forces resulting from hydrology. Development of MUO maneuvering control algorithms, which are able to work correctly for several control modes, should be performed during investigation of MUO maneuvers with constraints on the intensity and a set of control facilities using a full-scale model of the object under consideration. In the process of realization of the route we have to ensure a maneuvering mode, in which MUO will make as little noises (acoustic, e. g.) as possible. In order to accomplish this task a muted noise maneuvering mode is used. This mode minimizes the cavitational noises based on an object's phase coordinates monitoring. "Wanderer" allows us to perform an automated maneuvering of MUO along the route in space utilizing the muted noise maneuvering mode algorithm with the additional phase coordinates' and object control facilities' constraints. 'Wanderer" project gave an impulse to evolution and improvement of the facilities of the developed full-scale simulation system and allowed us to test many approaches and solve interesting problems. "Wanderer" has already been used as a part of a bigger project for solving of the set tasks and it produced good results.
Keywords: automation, control, full-scale simulation, marine underwater object, trajectory maneuvering, muted noise maneuvering, submarine

Acknowledgements: This work was supported by RFBR grant № 15-08-05133a.

For citation:

Aminev B. D., Danilova S. K. Design Automation for Marine Underwater Object Route Control, Mekhatronika, Avtomatizatsiya, Upravlenie, 2017, vol. 18, no. 3, pp. 202—207.
DOI: 10.17587/mau.18.202-207

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