Development of Control Systems for Implementation of Manipulative Operations in Hovering Mode of Underwater Vehicle

This paper describes a complex approach for solving the problem of fast and high qualitative performing of underwater manipulative operations in underwater vehicle hovering mode. The amended recursive algorithm for solving of inverse problem of a multilink underwater manipulator dynamic was developed in this work. Presented algorithm provides precision calculating of undesirable influences on the underwater vehicle from manipulator, moving at high speed. The values of these influences are proportional to the viscous friction coefficients of the each manipulator link. For defining these coefficients and also its dependence on the tilt angle of link to the fluid flow, the experimental approach is proposed. The vehicle invariance to manipulator influences is provided by thrusts of the vehicle screws with help of the open-loop stabilization system. But even at unintended displacements of the vehicle from initial position, the proposed method of automatic correction of underwater multilink manipulator configuration allows to provide desired accuracy of manipulator trajectory tracking. This correction is based on information about real vehicle shifts from desired position and provides additional movements of the multilink manipulator. Mathematical simulation had confirmed high efficiency of described control systems.