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.


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    Title :

    Modelling, Design and Analysis of an Autopilot for Submarine Vehicles


    Published in:

    Publication date :

    1989-01-01


    Size :

    35 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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