Multivariable Control System Design for a Submarine Using Active Roll Control.

摘要

A multivariable control system is designed for a deeply submerged submarine using Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) methodology. The differential stern, bow, and rudder control surfaces are dynamically coordinated to cause the submarine to follow independent and simultaneous commanded changes in roll, yaw rate, depth rate and pitch attitude. Linear models of the submarine are developed at a ship speed of 30 knots with various rudder angles and then analyzed using the method of modal analysis. The linear models are then augmented with integral control, loop shaping techniques are applied to design a Kalman Filter transfer function, and the LTR technique is applied to recover the Kalman Filter loop shapes. The resulting model-based compensator and plant is tested using a non-linear mathematical model of the submarine, and comparisons are made with an equivalent compensator design that lacks active roll control capability. The performance characteristics of the closed loop design with roll control capability was significantly better than the characteristics of the design without roll control.