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Mathematical model of the control system of a tethered descent underwater vehicle

To damp vertical oscillations of a tethered descent underwater vehicle at great depths caused by sea swinging a control system using a shock-absorbing hoist located on the underwater object was developed. The obtained mathematical model of the control system of a tethered descent underwater vehicle takes into consideration the features of a control object. The latter includes the change of a cable-rope, its mass distribution by a considerable length, interval uncertainty of cable-rope features, the mass of the descent underwater object, associated water mass the change of water density and the presence of friction of a cable-rope on water.