Depth and Pitch Control System for a Near Surface Submarine

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NAVAL POSTGRADUATE SCHC Monterey, California

THESIS DEPTH AND PITCH CONTROL SYSTEM FOR A NEAR SURFACE SUBMARINE by

Panos E. Vassiliadis

September 1976

Thesis Advisor Approved

G.

J.

Thaler

for public release; distribution unlimited.

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Master's Thesis; September 1976

Depth and Pitch Control System for a Near Surface Submarine

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Submarine controls

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ABSTRACT

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The problem of the near surface submarine depth and pitch controller is studied. Optimal unbounded depth and pitch controllers are designed (a) for a submarine with stern plane only control and (b) for a submarine with stern and fairwater plane control The two controllers are combined by a variable parameter function for use under a seaway. Submarine motion is simulated using an existing program modified for the special cases. Step and pulse .

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forces are applied to the submarine and operation of the combined controller is tested for various values of the parameter. Furthe:: analysis and evaluation of the controller is also included.

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Depth and Pitch Control System for A Near Surface Submarine by

Panos E. Vassiliadis Lieutenant Commander, Hellenic Navy B.S., Naval Postgraduate School, 1975

Submitted in partial fulfillment of the requirements for the degree of

MASTER OF SCIENCE IN ELECTRICAL ENGINEERING from the

NAVAL POSTGRADUATE SCHOOL September 1976

ABSTRACT The problem of the near surface submarine depth and pitch

controller is studied.

Optimal unbounded automatic depth and

pitch controllers are designed plane only control and

water plane control.

(b]

(a)

for a submarine with stern

for a submarine with stern and fair-

The two controllers are combined by a

variable parameter function for use under

a seaway.

Submarine

motion is simulated using an existing program, modified for the special cases.

Step and pulse forces are applied to the

submarine and operation of the combined controller is tested for various values of the parameter.

Further analysis and

evaluation of the controller is also included.

TABLE OF CONTENTS

^

INTRODUCTION I.

II.

III.

IV.

A.

MISSION OF NEAR SURFACE SUBMARINES

M ^

B.

WAVE THEORY

48

C.

FACTORS AFFECTING THE CONTROL OF THE NEAR SURFACE SUBMARINE

5

THE NEAR SURFACE PROBLEM

STERN PLANES ONLY DEPTH AND PITCH CONTROL SYSTEM

56

BOTH PLANES DEPTH AND PITCH CONTROL SYSTEM

o^

A.

OPTIMAL SOLUTION, UNBOUNDED CONTROLS

B.

CONSTRAINTS ON ADMISSIBLE CONTROLS

6 5

C.

LINEAR TRACKING CONTROLLER, EXACT DESIGN

61

D.

TESTING THE CONTROLLERS

6

B.

VI.

0

U

E=1.M0

1*^8

Root locus for SOPC with CE same as for BPOC (B=800, C=10, E=1).M0

k^O

Root locus for SOPOC with B=164, C=0.001, E=0.001 M0

35

1

hk^

V-7b

V-8a

V-8b

V-9a

V-9b

V-lOa

V-lOb

Root locus for SOPC with CE same as for BPOC (B=164, C=0.001, E=0.001).

M0

44^

Root locus for SOPOC with D=3000, C=10, E=l M40

440

44

Root locus for SOPC with CE same as for BPOC (D=3000, C=10, E=l) M