Control System Design for an Unmanned, Untethered, Underwater Vehicle
Abstract
Early phases of this design procedure were performed for the small, unmanned, tethered, underwater vehicle. The linear equations of motion for small perturbations about an equilibrium condition were developed, and the values of the hydrodynamic coefficients were determined. After the transfer functions were developed to relate the vehicle motion in each of the six degrees of freedom to small deflections of the rudder or stern planes, computer programs were written to determine the poles and zeros of the transfer functions. The vehicle's response in the time domain to one degree deflections of the rudder and stern planes was determined and plotted. The vehicles response indicated that the vehicle was stable and that the size of the control surfaces could be reduced to minimize drag while maintaining vehicle stability. The nonlinear equations representing the vehicle's motion in six degrees of freedom were incorporated into a computer model of the vehicle. Outputs of this model (linear and angular velocities in six degrees of freedom) are the state variables which will be needed during later phases of the control system design.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1982
- Accession Number
- ADA243863
Entities
People
- James H. Gillard
Organizations
- Charles Stark Draper Laboratory