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http://dx.doi.org/10.3744/SNAK.2006.43.6.647

On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface  

Yeo, Dong-Jin (Maritime and Ocean Engineering Research Institute/KORDI)
Rhee, Key-Pyo (Dept. of naval Architecture and Ocean Engineering, Seoul National University)
Park, Jeong-Yong (Dept. of naval Architecture and Ocean Engineering, Seoul National University)
Choi, Ju-Hyuck (Hyundai Maritime Research Institute/Hyundai Heavy Industries co., LTD.)
Publication Information
Journal of the Society of Naval Architects of Korea / v.43, no.6, 2006 , pp. 647-655 More about this Journal
Abstract
In this paper, submerged body dynamics model in vertical plane which can include the effect of free surface and wave is suggested to simulate the motions of submerged body moving beneath free surface precisely. A controller is designed, which can maintain a constant depth below the mean sea level and minimize the pitch angle. Numerical simulations show that the designed controller is effective on depth keeping and minimizing pitch angle in regular waves and irregular waves.
Keywords
Submerged body; Free surface effect; Periscope depth; Wave force and moment; Controller;
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