Charging station control system for an underwater robot

Authors: Ezangina T. A., Gayvoronskiy S. A., Hozhaev I. V.

Annotation: 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