Charging station control system for an underwater robot
DOI: 10.21293/1818-0442-2017-20-1-105-109
Abstract: The article describes the systems to damp vertical oscillations of a charging station at great depths caused by sea disturbance using a shock-absorbing hoist located on the control station. The obtained mathematical model of the control system for a charging station takes into consideration the features of a control object. The latter includes the change of a cable-rope, its mass distribution by a considerable length, interval uncertainty of cable-rope features, mass of the charging station, associated water mass, change of water density and presence of friction of a cable-rope on water.
Keywords: charging station, interval uncertainty, distribution of a parameters, mathematical model, associated water mass friction, disturbance
Authors and copyright holders:
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For citation:
Ezangina T. A., Gayvoronskiy S. A., Hozhaev I. V. Charging station control system for an underwater robot. Doklady Tomskogo gosudarstvennogo universiteta sistem upravleniya i radioelektroniki, 2017, vol. 20, no. 1, pp. 105–107. DOI: 10.21293/1818-0442-2017-20-1-105-109
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