Objectives To solve the steering control problem of X-rudder submarines under different available rudder surfaces conditions, the rudder control distributor of an X-rudder submarine is designed.Methods A cascade control structure including a main controller and control allocator is adopted in the design of the steering control system. The main controller adopts an existing mature algorithm, and a constrained control allocation algorithm is designed by converting the rudder angle control allocation problem with the rudder angle and rudder speed limit to solve the weighted least square (WLS) problem. The control allocation algorithm is verified through a simulation of turning at certain depths and diving in three operation cases (i.e. quadruple rudder, triple rudder and double rudder).Results Under the given rudder conditions, with the decrease in the steering surface, the difference in the submarine's diving performance is not significant, turning performance is reduced slightly and heeling and rudder angle oscillation tends to be serious.Conclusions The simulation results show that the control allocation algorithm is reasonable and suitable for different rudder configurations.


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    Title :

    Design and simulation of X-rudder control allocator for Submarine


    Contributors:
    SHANG Jianpeng (author) / LI Wenkui (author) / HUANG Yuepeng (author)


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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