Uma metodologia para controle e compensação posicional automática de um arranjo submarino

Abstract

This dissertation proposes a methodology for the positional control of an underwater array that can be used for any other submerged objects t hat one wishes to control. The study was performed with only one degree of free dom and could be extended to other grades with a consequent increase in complexity. The azimuth positional control was chosen so that the array could have a control of its direction in relation to the magnetic north, allowing a better tran smission / reception power in the desired direction and presenting itself as a mechanical equivalent to the adaptive beamforming technique, with less computational e ffort. A prototype was constructed and after hundreds tests performed the preliminary theoretical analyzes was ratified.