Submarine Motion Control Method Based on Equivalent Coefficient of Dynamic Stability
The corrected rudder angle required for increasing stability of submarine was obtained by solving the steering ratio function derived from the linear motion equation of the submarine and the Routh-Hurwitz discriminant method.Together with the original rudder angle of the submarine,a new command rudder angle was formed to improve the submarine navigation performance.Taking a submarine with cross-rudder as example,the equation of six-degree-of-freedom motion for the submarine was solved,and the typical submerged turn at depth-keeping condition was simulated.The results indicated that the submarine motion response under navigation was significantly improved and the control stability was also effectively promoted for those with insufficient automatic stability,the difficult control caused by the insufficient stability of the submarine was overcome.The steering scale coefficient used for control was only related to the hydrodynamic derivative and the equivalent coefficient of dynamic stability.The new method was universal to different target submarines and could be utilized in different maneuvering conditions.The control stability would also be affected by the factors such as the motion characteristic quantity and the steering angle of the turning.This paper had given a new technical approach for the design method of future submarines to optimize their comprehensive hydrodynamic performance by reducing of the area control surface.
coefficient of dynamic stabilitymotion controlcontrol stabilityautomatic stabilityhydrodynamic forces
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