Accuracy enhancement of position stabilization of the tethered submersible vehicle

The control system was developed to stabilize the position of the tethered submersible vehicle under dusting conditions. This system uses a shock-damping winch located on the submersible vehicle. The resilient member of quasi-zero stiffness was included in the spring linkage between the ship-carrier and the submersible vehicle to improve the control system accuracy. The robust proportional-plus- integral action controller is used in this control system. The controller ensures the required dynamic properties of the system by the change of submersible vehicle mass. The parametric synthesis of the controller of the stabilization system is carried out on the basis of the coefficient method of assessment of quality indices. System operability is confirmed by the results of digital simulation.