Improvement of the mathematical model for spatial motion of a remotely operated underwater vehicle with technological equipment

Abstract

Full-scale sea experiments of underwater vehicles and their automated control systems are an expensive and labor-intensive process. Moreover, execution of such experiments is always accompanied with the risk of damaging the components of an underwater vehicle or even injuring its crew. Thus, it is relevant to minimize the time of configuring automatic control systems of underwater vehicles through computer simulation. This paper considers advanced approaches to motion dynamics simulation for underwater vehicles with technological equipment. There is substantiated the necessity of developing a specialized mathematical model of a tethered remotely operated underwater vehicle with technological equipment. The proposed mathematical model accounts for an underwater vehicle that is organized according to the principle of separation of progressive motion of its hull and rotary motion of its technological equipment. The mathematical model of the rotary motion platform is designed; it considers the influence of disturbances arising from the technological equipment on the dynamics of its motion. The developed mathematical model will be used during the design and preliminary configuration of the automated control system for an underwater vehicle and its technological equipment.