Non-linear Model of Submarine Depth Control System

摘要

In this paper the mathematical model of a non-linear submarine depth control system is defined. A stability analysis has been performed. The PD and PID control algorithms and their influence on the system has been investigated. Different input functions (step and ramp) have been tested. Various working regimes are explored and dynamical behaviour of the system has been analysed. Two nonlinearities and their effect on the system have been pointed out. The simulation of the model of the submarine depth control system has been performed by Simulink. The results are presented and the best selection of the algorithm and its parameters are suggested. The presence of the disturbances is considered.