SYNTHESIS OF LOCAL CONTROL SYSTEMS FOR UNDERWATER UNITS CLEANING BOTTOM SEDIMENTS IN RESERVOIRS

The article discusses the issues of synthesizing local control systems for underwater units for cleaning bottom sediments in reservoirs. It is shown that the protection and rational use of natural reservoirs and the fight against their premature siltation is becoming an urgent task. It is proposed to use small-sized underwater units, consisting of information and measuring devices, to carry out search work for cleaning bottom sediments under water; control systems; actuators and means of communication with humans. It is shown that the task of controlling the loading of an underwater unit (UU) requires maintaining optimal performance while simultaneously taking into account torque limitations. An algorithmic block diagram of a local control system for an underwater unit is considered. To solve processes, it is proposed to use the optimization of the simplex method.

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