Mathematical modeling of the robot motion control system for monitoring deep sea communications

摘要

The aim of the work is to determine the parameters of the mathematical model of the motion control system (MCS), which provides automatic monitoring of deep-sea communications with the minimum number of control devices of the MCS, due to which it is possible to use additional monitoring equipment. Mathematical models of the motion of an underwater robot are presented, block diagrams are constructed and the results of the motion of an underwater robot in the vertical and horizontal planes using the Matlab Simulink graphical simulation environment are obtained.