Automatic control of submarine depth, pitch and trim
Drurey, Harold Leroy
Thaler, George F.
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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 so 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.
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