THE SIMULATION OF OPTIMAL FOR QUICK-SPEED SYSTEMS OF CONTROL OF UNDERWATER ROBOTS

Abstract

The article is analyzed the question of improving the performance of underwater robots by providing the optimality for the speed in the subsystems of the position control of the respective drives; To solve this problem, the tool package Nonlinear Control Design Blockset (NCD -Block set) as a part of Matlab is used as a parametric optimization problem; the functional structure of the identifier is shown; The dynamic characteristics of the identifier and the transient characteristics of the system are constructed for .

Thus, the mathematical model, compiled in the aspect of parametric optimization using the identification principle within the Nonlinear Control Design Blockset toolkit in Matlab, allows to improve the quality of the operation of underwater robots by ensuring optimality of the speed in the subsystems of position control by the corresponding drives.