Submarine depth and pitch control based on closed-loop gain shaping algorithm

Abstract

In order to design a controller to control the pitch and depth of the submarine, this paper designs a submarine bow and stern rudder controller based on Closed-loop Gain Shaping Algorithm (CGSA) and nonlinear feedback and modification. The controller design considers the decoupling of the strong coupling of the submarine vertical surface motion model, the effect of wave disturbance and the optimization of the controller output. To verify the effectiveness and superiority of the proposed method, this research compares it with the Independent channel analysis and design (ICAD) method and introduces an evaluation index system to quantify the improvement effect. From the controller design process, the parameters of the CGSA are simple to solve and the engineering meaning is clear. From the simulation results, this controller can reach the setting depth quickly during the depth-changing maneuver. In the depth-keeping navigation stage, the control effect of depth and pitch angle is improved under wave disturbance, and the control energy evaluation index of the bow and stern rudder are reduced by 94.00% and 77.16% respectively, which proves that the controller has robust performance and energy saving effect. A new and efficient control algorithm is proposed for submarine motion control, which reduces the control energy while ensuring the control effect.