Reglermodell för ubåträddningsfarkost

Sammanfattning: Kockums Mekaniska Verkstad, Malmö, is building a submarine rescue vehicle (URF) for military and civilian purposes. The theoretical and experimental background for the dynamics of the submarine is incomplete. One miss is for example a total model for the submarine, that is, what happens when you pull the control lever. We have constructed such a model suitable for simulations on a computer in the simulation language SIMNON. In the equations of motion hydrodynamic forces, propeller forces and motor equations are included. Controlling the ship is possible by setting wanted values of the propellers rotating speed. As outputs we have position, velocities and the rotating speed of the propellers.