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Simulation and Control of Submarines

Lind, Erik and Meijer, Magnus (2014)
Department of Automatic Control
Abstract
When designing control systems for real applications, it is important to first do testing in a simulated environment, to ensure adequate performance. This is especially important when designing control systems for applications that have high operation costs, e.g., submarines, since late errors in the development can be extremely costly. Saab develops steering systems for submarines. Prior to this thesis, testing for those have been performed in an open-loop environment, where only static test cases could be examined. Saab therefore identified the need to implement a dynamic test simulator, which could react to the different signals from the steering system, i.e., act as a real submarine.

In this thesis, such a simulator was developed.... (More)
When designing control systems for real applications, it is important to first do testing in a simulated environment, to ensure adequate performance. This is especially important when designing control systems for applications that have high operation costs, e.g., submarines, since late errors in the development can be extremely costly. Saab develops steering systems for submarines. Prior to this thesis, testing for those have been performed in an open-loop environment, where only static test cases could be examined. Saab therefore identified the need to implement a dynamic test simulator, which could react to the different signals from the steering system, i.e., act as a real submarine.

In this thesis, such a simulator was developed. It consists of two parts, a physical model of a submarine, and a control system for motion control. As for the physical submarine model, it can be approximated from mechanical data of a submarine that the user provide, such as dimensions and weight. The second options is for the user to explicitly supply the simulator with hydrodynamic coefficients.

The control system was derived to control a model of a demo submarine. Saab is also involved in submarine navigation systems and saw the need to, in the future, also have the possibility to test those products. A navigation system assumes an autopilot exists, hence, an autopilot control system was developed. In the end, the control system consisted of a two-level cascade controller of mixed LQG- and PID-control, along with a Kalman estimator for estimating unknown states.

The results were overall satisfactory. The performance of the control system is well within usual customer specifications and the main problems in this thesis lay in getting a proper model. (Less)
Please use this url to cite or link to this publication:
author
Lind, Erik and Meijer, Magnus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
ISSN
0280-5316
other publication id
ISRN LUTFD2/TFRT--5954--SE
language
English
id
4646251
date added to LUP
2014-09-15 12:38:03
date last changed
2014-09-18 14:47:36
@misc{4646251,
  abstract     = {When designing control systems for real applications, it is important to first do testing in a simulated environment, to ensure adequate performance. This is especially important when designing control systems for applications that have high operation costs, e.g., submarines, since late errors in the development can be extremely costly. Saab develops steering systems for submarines. Prior to this thesis, testing for those have been performed in an open-loop environment, where only static test cases could be examined. Saab therefore identified the need to implement a dynamic test simulator, which could react to the different signals from the steering system, i.e., act as a real submarine.

In this thesis, such a simulator was developed. It consists of two parts, a physical model of a submarine, and a control system for motion control. As for the physical submarine model, it can be approximated from mechanical data of a submarine that the user provide, such as dimensions and weight. The second options is for the user to explicitly supply the simulator with hydrodynamic coefficients.

 The control system was derived to control a model of a demo submarine. Saab is also involved in submarine navigation systems and saw the need to, in the future, also have the possibility to test those products. A navigation system assumes an autopilot exists, hence, an autopilot control system was developed. In the end, the control system consisted of a two-level cascade controller of mixed LQG- and PID-control, along with a Kalman estimator for estimating unknown states.

 The results were overall satisfactory. The performance of the control system is well within usual customer specifications and the main problems in this thesis lay in getting a proper model.},
  author       = {Lind, Erik and Meijer, Magnus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Simulation and Control of Submarines},
  year         = {2014},
}