Automatic Control of Submarine Depth,Pitch and Trim.

摘要

A computer program for simulating submarine motion in six degrees of freedom is developed. The simulated submarine is given a capability of shifting ballast. An automatic pitch and depth control is designed for the submarine simulated using optimal control theory. With the depth and pitch in automatic control a trim error signal is developed by comparing the parameters of the plant to that of a linearized model. This error is used to implement an automatic trim control that shifts ballast within the submarine to achieve a neutral trim.