Accession Number : AD0712115

Title :   DYNAMIC SIMULATION AND CONTROL OF DEEP-SUBMERGENCE VEHICLES,

Corporate Author : MASSACHUSETTS UNIV AMHERST SCHOOL OF ENGINEERING

Personal Author(s) : Hsing,C. C. ; Monopoli,R. V.

Report Date : SEP 1970

Pagination or Media Count : 98

Abstract : The six-degree of freedom equations of motion for a deep-submergence vehicle are developed and transformed into the state variable form. Vehicle maneuvers for two-dimensional motion are simulated on a digital computer resulting in the trajectories of the vehicle. Also, simulated results are checked against analytical results for different two-dimensional maneuvers. The feasibility of employing a model reference control technique to the vehicle is studied. The model reference control scheme employed is based on Liapunov's direct method and is applicable to nonlinear multivariable plants. The controller synthesis technique leads to a nonlinear control law which specifies the thrusts and torques which should be applied to the vehicle such that the vehicle is forced to follow the model. The advantages of this scheme are (a) vehicle parameters need not be known exactly to synthesize the controller, and (b) a stable system results as part of the design procedure. A disadvantage is that the vehicle's six position coordinates and six velocity components must be known to implement the control scheme. It is assumed that these signals may either be measured directly or generated from other measurable signals. The model reference control technique with motion restricted to a plane is discussed. (Author)

Descriptors :   (*UNDERWATER VEHICLES, MATHEMATICAL MODELS), (*CONTROL SYSTEMS, SIMULATION), EQUATIONS OF MOTION, FEASIBILITY STUDIES, MOMENT OF INERTIA, UNDERWATER TRAJECTORIES, ROLL, PITCH(MOTION), YAW, HYDRODYNAMIC CONFIGURATIONS

Subject Categories : Marine Engineering

Distribution Statement : APPROVED FOR PUBLIC RELEASE