Sohveibev J Bentkowsky and Kerr 



Throughout the course of the program, vehicle responses 

 using the simulation model were compared to responses computed 

 from the more complete analysis model, which had been programmed 

 with a more sophisticated integration routine. 



Vehicle Control System 



The control effectors available are main propulsion for 

 surge, a pair of horizontal thrusters for yaw and sway, a pair of 

 verticcd thrusters for pitch and heave, and mercury ballast control 

 for list and trim. Experience with DEEP QUEST and other submer- 

 sibles had shown that independent control of the thrusters was not 

 effective, since each horizontal thruster , for example, affected both 

 yaw and sway. To achieve effective control it is desirable to sepa- 

 rate the commands to each degree of freedom. Thus, a sway com- 

 mand would be applied equally to both fore and aft thrusters , while 

 a yaw command would be applied differentially to the two thrusters. 



Vehicle control (except for trim and list) is obtained from 

 two hand controllers. The block diagram of the system, including 

 the actuators and effectors, is shown in Fig. 29. The output of 



DSRV STICK SUMMATION AND THRUSTER SIMULATION 



PROP RPM 



RIGHT SUCK 



STICK SUMMATION 



1 * E 



• 2: 



D.Z. O-R.L. 



n|n| 



MAIN PROP 

 REFINEMENT 



— ^ -rO.z 



D.Z. O-R.L. 



I ' REFINEMENT 



ML l\r~|-j-D.Z. 



N|N| 



THRUSTER 

 REFINEMENT 



ML V 



D.Z. O- R.L 



MLG 



^1^1 THRUSTER • jF,u 

 ^N— REFINEMENT ~T 



r~ 



D.Z. O- R.L. 



N|N| — 



THRUSTER 

 REFINEMENT 



H-" 



ML - MAGNITUDE LIMIT 



^ - SQUARE ROOT 



D.Z. - DEAD ZONE 



nX. - «ATE LIMIT 



MtG - MAJOR LOOP GAIN 



TMKUSTtR DESIGNATION 



FH - FWD HOtIZ THRUSTER 



FV - FWD VERT THRUSTER 



AH - AFT HORIZ THRUSTER 



AV - AFT VERT THRUSTER 



Fig. 29. DSRV Stick Summation and Thruster Simulation 



1170 



