Design of auto-depth control system for submerged body

수증운동체 자동심도제어 시스템 설계연구

Normal operation when deeply submerged is a relatively easy task, and human operator control can often provide adequate performance. Near surface depthkeeping, on the other hand, is difficult to both man and machine. Because of the inherent limitation of the human operator, manual control may prove inadequate for near surface depthkeeping in some sea state. This paper describe the control algorithm of an automatic depth control system for submerged body that can be used for both near surface and deeply submerged depthkeeping operations. The computer simulations demonstrate the excellent depthkeeping performance of the controller under seaway effects.