Depth-keeping control near surface under rough sea is a crucial task for submarine architects. Specific autopilot laws are to be designed to achieve the control under various wave disturbances. The clasical design process is first to identify mathematical models of the submarine's dynamic forces and of the wave efforts on her, then to compute autopilot laws and test them with simulations. The main problem is to model the second order low frequency wavw force that causes depth instability and therefore must be counteracted by the autopilot. To test and improve the mathematical models and the autopilot, DCN has developed a new method based on experimentation. It consists in making trials with a free running model in a towing tank. The autopilot laws are integrated into the model and the parameters such as depth, speed of the model or wave spectrum are chosen for each trial. Unlike sea trials, this approach of the problem allows thorough control of the produced waves and to test every situation: regular waves, bifrequency waves to generate siusoidal low frequency effects or irregular waves with various spectra. It also allows to test different autopilot laws under the same waves. Pressure sensors and a specific optical trajectography system enable the model to pilot itself and also give measurements of its altitude parameters.
Submarine depth control under waves - an experimental approach
Unterseeboots-Tiefenregelung unter Wellen. Eine experimentelle Methode
1996
15 Seiten, 11 Bilder, 2 Tabellen
Aufsatz (Konferenz)
Englisch
Submarine Depth Control Under Waves an Experimental Approach
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