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The paper is devoted to a problem of synthesis of the automatic control system of a damping winch. The vessel descent-rise devices are used for vessel heave compensation and immerging depth stabilization of a towed underwater vehicle. Most of them have essential disadvantages. First, a cable destructs during its bending strains on descent-rise device’s blocks. Second, a power of such device increases due to the compensation function. To eliminate these disadvantages it is offered to use a special damping winch. It is on the underwater vehicle. There are two controllers in the suggested automatic control system. The rope’s tension controller is used for a heave compensation function of the damping winch and the rope’s length controller is used for immerging depth stabilization of a towed underwater vehicle. For optimization of controllers the standard coefficients method with binomial decomposition and an optimal module method were used. Due to the offered approach vertical displacements of the underwater vehicle are reduced ten times at any sea state codes and stepless depth changing for a towed underwater vehicle is provided.

journal of physics. conference series

Automatic control system of damping winch to compensate influence of heave of parent vessel and to stabilize immersion depth of towed underwater vehicle