Trim Effects on Motion Stability of Submersible Vehicles.

摘要

The effects of trim on stability of motion during depth control of submersible vehicles are analyzed. Full state feedback control is used to provide stable response in the dive plane, and feedforward control is used to ensure steady state accuracy. A complete set of stability maps is generated for various values of metacentric height, longititunal center of gravity/center of buoyancy separation, forward speed, and control law time constant. The results clearly indicate ranges of parameters that should be chosen in design and operation of a given vehicle. Submarine, Bifurcation, Out of trim.