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Efficient Multivariable Submarine Depth-control System Design

机译：高效的多变量潜艇深度控制系统设计

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摘要

An efficient solution for the multivariable submarine control design at low-depth conditions under the influence of wave disturbances is presented. The analysis and control design process is carried out under the framework of individual channel analysis and design (ICAD), which is based on the multivariable structure function (MSF). Classical frequency-domain control techniques based on Bode and Nyquist plots are used. Robustness is stated in terms of gain and phase margins. The closed-loop system includes low-order diagonal controllers facilitating its implementation, assessment, and tuning. ICAD discloses new physical insights of the submarine dynamical behaviour. Previous designs based on diagonal controllers consider the input-output channels defined by pairing the bow hydroplane angle with the depth and the stern hydroplane angle with the pitch angle. The alternative input-output pairing leads to unstable closed-loop systems. This phenomenon is associated with hydroplane reverse control. Here it is shown that MSF-based diagonal controllers can be applied effectively for both sets of channel configurations. Emphasis is placed on satisfying design specifications aiming at maintaining the depth low. The solution presented is more feasible and clearer to apply in practice than those so far reported in the literature.
机译：提出了一种在波浪干扰影响下的低深度多变量潜艇控制设计的有效解决方案。分析和控制设计过程是在基于多变量结构函数（MSF）的单个通道分析和设计（ICAD）框架下进行的。使用基于Bode和Nyquist图的经典频域控制技术。稳健性用增益和相位裕度表示。闭环系统包括低阶对角线控制器，有助于其实现，评估和调整。 ICAD公开了有关潜艇动力学行为的新物理见解。基于对角线控制器的先前设计考虑了通过将船首水平面角与深度以及船尾水平面角与俯仰角配对来定义的输入-输出通道。输入输出对的替代导致不稳定的闭环系统。这种现象与水上飞机反向控制有关。此处显示了基于MSF的对角线控制器可以有效地应用于两组通道配置。重点放在旨在使深度保持较低的令人满意的设计规格上。所提出的解决方案比迄今文献中报道的解决方案更可行，更实际地应用。

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