DYNAMIC LOSS OF STABILITY IN DEPTH CONTROL OF SUBMERSIBLE VEHICLES

Control of a modern submarine is a multi-dimensional dynamical problem coupling considerations of initial static stability, hydrodynamic performance, and control system response. In this paper, the loss of stability at moderate-to-high speeds is examined using a nonlinear Hopf bifurcation analysis. Complete linear state feedback is used for demonstration purposes for depth control at level attitude and for a fixed nominal speed. The control time constant, the nominal and actual speeds, the metacentric height, and the stern-to-bow-plane ratio are used as the main bifurcation parameters. A complete local bifurcation mapping provides a systematic method for evaluating the bounds of controllability for the control system design parameters for a vehicle with a given set of hydrodynamic coefficients. The submarine and its potential design modifications are verified with direct numerical simulations.

• Supplemental Notes:
  • Applied Ocean Res, v 17 n 4, Aug 1995, p 205 [11 p, 20 ref, 2 tab, 15 fig]
• Authors:
  • Papoulias, F A
  • Bateman, C A
  • Ornek, S
• Publication Date: 1995

Language

• English

Subject/Index Terms

• TRT Terms: Control; Depth; Numerical analysis; Stability (Mechanics); Submersibles
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 00728010
• Record Type: Publication
• Source Agency: British Maritime Technology
• Files: TRIS
• Created Date: Nov 4 1996 12:00AM