Synthesis of automatic system for correction of program signal of underwater vehicle´s movement on spatial trajectory

In this work the method of advanced forming of program signal of UV´s movement on desired spatial trajectory is offered. This method is based on simultaneous tuning of desirable UV´s velocity and correction of target point position. The correction of target point´s position is done by means of using of vector of UV´s deviation from desired trajectory. It allows entering to input signals of UV´s control system additional terms which allow forming additional control signal for compensation of UV´s deviation from desirable trajectory. Results of computer simulation are shown that using of offered method of forming of program signals allow provide the UV´s movement on desired spatial trajectory with maximal velocity practically on all it parties independently from these curvatures.