Fuzzy control electric drive for a vessel descent-rise device

Efficiency of autonomous underwater vehicles (AUV) use decreases because of the existing descent-rise devices imperfect design. These devices descent AUVs overboard of the support ship before starting their mission and rise back on the deck after the operation ends. Besides, it is necessary to rise AUVs aboard for accumulator charging. These operations can be possible only at low sea force, therefore, a vessel demurrage takes place because of waiting for a calm weather. Besides, operations for connection of the accumulator to the charger are very time-consuming and injury-causing. It is offered to charge autonomous underwater vehicle's accumulators under water using the underwater charging station and produce descent-rise operations automatically. The descent-rise devices should have a heave compensation function. The automatic control system for heave compensation of a support ship at the AUV immersion depth is described.