Studies on submarine control for periscope depth operations
Tolliver, John V.
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Requirements for submarine periscope depth operations have been increased by integration with carrier battle groups, littoral operations, and contributions to joint surveillance. Improved periscope depth performance is therefore imperative. Submarine control personnel rely on a large number of analog gauges and indications. An integrated digital display system could enhance the ergonomics of the human control interface and display additional parameters. This thesis investigates the required feedbacks for robust automatic depth control at periscope depth, and thus indirectly determines the additional parameters desired for an integrated display. A model of vertical plane submarine dynamics is coupled with first and second order wave force solutions for a particular submarine hull form. Sliding mode control and several schemes of state feedback are used for automatic control. Head and beam seas at sea states three and four are investigated. The automatic control effectiveness provides insight into the indications used by the ship's control party in operations at periscope depth. One possible display system is proposed, with several additional enhancements to improve ship's safety, reduce operator fatigue, and enable accurate reconstruction of the events leading to a loss of depth control
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