THE DYNAMICS AND CONTROL OF AN UNDERWATER TOWED VEHICLE

Authors
  1. Hopkin, D.A.
Corporate Authors
British Columbia Univ, Vancouver BC (CAN) Dept of Mechanical Engineering;Defence Research Establishment Pacific, Victoria BC (CAN)
Abstract
A linear, quadratic optimum control strategy is applied to a non-linear dynamic model of an underwater towed vehicle in an effort to minimize the pitching motion of the vehicle during the tracking of a reference input. The dynamic model is a two-dimensional, coupled pitch/heave model. The cable interactions with the vehicle are simplified to steady state, and formed into a multi-variable look-up table used in the non-linear model. The normal force resulting from the body of the vehicle is non-linear and consists of two components, an invisid slender-body theory component, and a separated crossflow component. In addition, the dynamic model includes the non-linear effect of the front airfoil's downwash acting upon the rear airfoils.
Keywords
Airfoils
Date of publication
15 Apr 1989
Number of Pages
148
DSTKIM No
90-01106
CANDIS No
63377
Format(s):
Hardcopy;Originator's fiche received by DSIS

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