Hopf Bifurcation Analysis for Depth Control of Submersible Vehicles

摘要

Control of a modern submarine is a multi-dimensional problem coupling initialstability, hydrodynamic and control system response. 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. Control time constant, nominal and actual speeds, metacentric height, and stern to bow plane deflection ratio are used as the main bifurcation parameters. A complete local bifurcation mapping provides a systematic method for evaluating the bounds of controllability for control system design parameters for a submarine with a given set of hydrodynamic coefficients. The submarine and its potential design modifications are then verified with a nonlinear simulation program. Submarine, Bifurcation, Nonlinear dynamics, Chaos.