X-rudder submarine falling deep recovery strategy and control method

Table 1. Relationship between drainage capacity and depth
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Table 1. Relationship between drainage capacity and depth
深度/m 主疏水泵/(t·h⁻¹) 舱底泵/(t·h⁻¹) 总计/(t·h⁻¹)
<30 180 20 200
30~120 22 20 42
>120 − 20 20

Table 2. Fuzzy control subject input variables and domains

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Table 2. Fuzzy control subject input variables and domains

输入变量		论域
深度H/m	误差ΔH	[−3，3]
深度H/m	误差变化率ΔH_c	[−0.06，0.06]
纵倾θ/(º)	误差Δθ	[−3，3]
纵倾θ/(º)	误差变化率Δθ_c	[−0.06，0.06]
横倾φ/(º)	误差Δφ	[−3，3]
横倾φ/(º)	误差变化率Δφ_c	[−0.06，0.06]
航向ψ/(º)	误差Δψ	[−20，20]
航向ψ/(º)	误差变化率Δψ_c	[−0.6，0.6]

Table 3. X-rudder control rules of pitch，roll and yaw

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Table 3. X-rudder control rules of pitch，roll and yaw

被控量	纵倾θ	横倾φ	航向ψ
δ1	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	$- {{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$
δ2	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	$- {{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	$- {{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$
δ3	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$
δ4	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	$- {{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$	${{\boldsymbol{U}}_{ {\delta _{\rm{b} } }_{ - H} } }$

Table 4. Max negative buoyancy of different recovery methods

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Table 4. Max negative buoyancy of different recovery methods

V_s/kn	ΔP/t
V_s/kn	操舵	操舵+排水	操舵+纵倾	操舵+排水+纵倾
5	5.2	10.7	12.5	18.9
6	7.5	13.5	17.2	26.4
7	10.2	16.7	27.5	35.2
8	13.2	20.2	36.7	45.0
9	16.7	24.2	47.0	56.0
10	20.8	28.5	59.0	68.2
11	25.3	33.3	72.0	81.6
12	30.1	38.4	86.0	96.3
13	35.3	44.0	101.0	112.1
14	40.8	50.0	117.5	129.2
15	47.0	56.2	135.5	147.5

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Bin HUANG, Bangjun LYU, Likun PENG, Jinlin LIU. X-rudder submarine falling deep recovery strategy and control method[J]. Chinese Journal of Ship Research, 2021, 16(4): 108

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