The underwater robot thruster control system with non-linear correction and reference model self-adjustment

Abstract

A method of a control system synthesis for the separate UR thruster is developed. A special non-linear correcting device and adaptive adjustment on reference model are applied for non-linearity compensating and required quality of control processes saving at change of thruster parameters in a given range. A new approach to forming a self-adjustment signal ensuring activity in a linear zone of the power amplifier and drop of power losses is offered. A numerical simulation of the synthesized control system in real functionate regimes is carried out. It confirms the developed control laws efficiency.