Closed Loop Control Systems and Hydrodynamics of a Tethered Submersible

Abstract

An experimentally derived mathematical model of a tethered submersible including vehicle kinematics, hydrodynamics and propulsion characteristics is described. A primitive model has been used for computer simulations to evaluate a closed loop control strategy for the guidance of the vehicle using a micro-computer.Full-scale experiments, using a planar motion mechanism, have been made to determine steady state hydrodynamic forces, -added mass effects, propulsion forces and various cross coupling interactions.Results from these experiments and the implication for future control system design are discussed.Thanks are also due to Professor Nicoll, and the staff and numerous research students of the Department of Electrical and Electronic Engineering at Heriot-Watt University.. Fyfe also wishes to acknowledge the help of the staff of the Admiralty Marine Technology and Establishment without whose willing help and cooperation hydrodynamic measurements could not have been made.

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