This work presents the modelling, analysis, preliminary design and build-up of a prototype of a submarine autopilot.
The autopilot is designed to perform two different missions: depth-keeping near the sea surface and depth changing control.
The vehicle dynamics are simulated by a non-linear model, whose coefficients are evaluated by the equivalent ship method.
A solution of the control problem is obtained using optimal control techniques. The system state is estimated using the Kalman filter associated with the dynamical model compensation technique. A simplified filter was also used for real time state estimation.
The prototype consists of a microcomputer with analog-digital interfaces for input-output signals.
A digital simulation of submarine manoeuvres was done and the results indicate a good performance for the autopilot, even under severe conditions. Other tests showed the accuracy of the non-linear model and the technical feasibility of the prototype.
Modelling, Design and Analysis of an Autopilot for Submarine Vehicles
International Shipbuilding Progress ; 36 , 405 ; 51-85
1989-01-01
35 pages
Article (Journal)
Electronic Resource
English
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