Three dimensional pursuit guidance and control of submersible vehicles.

124 Pages·1 MB·en_US

by  Papasotiriou, Evangelos G.;Papoulias, Fotis A.

NAVAL POSTGRADUATE SCHOOL
Monterey, California
THESIS
THREE DIMENSIONAL PURSUIT GUIDANCE AND
CONTROL OF SUBMERSIBLE VEHICLES
by
Evangelos G. Papasotiriou
September, 1991
Thesis Advisor: Fotis A. Papoulias
Approved for public release; distribution is unlimited

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11 TITLE (IncludeSecurityClassification)
THREEDIMENSIONALPURSUITGUIDANCEANDCONTROLOFSUBMERSIBLEVEHICLES
12 PERSONALAUTHOR(S) EvangelosG.Papasotinou
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Master'sThesis From To September 1991 112
16 SUPPLEMENTARY NOTATION
Theviewsexpressed inthisthesisarethoseoftheauthoranddonot reflecttheofficial policyorpositionoftheDepartmentofDefenseortheU.S.
Government.
17 COSATICODES 18 SUBJECTTERMS(continueonreverseifnecessaryandidentifybyblocknumber)
FIELD GROUP SUBGROUP Submersible,autopilot,path,stability,guidance.
19 ABSTRACT(continueonreverseifnecessaryandidentifybyblocknumber)
A pure pursuit guidance law is combined with a heading autopilot to provide accurate path keeping ofsubmersible vehicles. The scheme is
implemented andanalyzed in both thehorizontal and vertical planes. A complete stability analysis i-o performed inorder toevaluate regionsof
stablevehicleoperations.Numericalintegrationssupporttheanalyticpredictions.Twodistinctstability boundariesareestablished. Inthefirst,
the vehicle lossofstability is accompanied bythe generation ofoscillatory motionsaround the commanded path. In the second, loss of stability
occurswithlinearlyincreasingpathdeviation.Thehorizontaland verticalplaneschemesarecombinedwithapropulsioncontrol lawinorderto
achievepathtrackingofageneralcommandedroutecomposedofseveralstraightlinesegmentsinthreedimensionalspace.
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FotisA.Papoulias [phone] 69Pa
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Approved for public release; distribution is unlimited.
Three dimensional pursuit guidance and control ofsubmersible vehicles
by
Evangelos G. Papasotiriou
Lieutenant, Hellenic Navy
Submitted in partial fulfillment
ofthe requirements for the degree of
MASTER OF SCIENCE IN MECHANICAL ENGINEERING
from the
NAVAL POSTGRADUATE SCHOOL
September 1991
ABSTRACT
A pure pursuit guidance law is combined with a heading
autopilot to provide accurate path keeping of submersible
vehicles. The scheme is implemented and analyzed in both the
horizontal and vertical planes. A complete stability analysis
is performed in order to evaluate regions of stable vehicle
operations. Numerical integrations support the analytic
predictions. Two distinct stability boundaries are
established. In the first, the vehicle loss of stability is
accompanied by the generation of oscillatory motions around
the commanded path. In the second, loss of stability occurs
with linearly increasing path deviation. The horizontal and
vertical plane schemes are combined with a propulsion control
law in order to achieve path tracking of a general commanded
route composed of several straight line segments in three
dimensional space.
111
C.
TABLE OF CONTENTS
INTRODUCTION
I 1
II. HORIZONTAL PLANE 5
A. EQUATIONS OF MOTION 5
B. CONTROL LAW 6
1. ZERO YAW ANGLE 7
2 NON ZERO YAW ANGLE 9
.
C. GUIDANCE 11
D. STABILITY 12
E. SIMULATIONS 17
III. VERTICAL PLANE 19
A. EQUATIONS OF MOTION 19
B. CONTROL LAW 2
1. ZERO PITCH ANGLE 22
2. NON ZERO PITCH ANGLE 27
C. GUIDANCE LAW 30
1. HORIZONTAL PATH 30
2. INCLINED PATH 31
D. STABILITY 31
1. REGIONS OF STABILITY 33
2. SIMULATIONS 35
IV