Automatic Depth Control System For A Robot Submarine

California State University, Northridge
ECE350
Summer 2014

Automatic Depth Control System
For A
Robot Submarine

Background:
An automatic depth control system for a robot submarine is shown below. When the gain of the stern plane actuator is one, the vertical velocity is 25m/s.

Part One: transfer function of system in terms of the gain K.
H(S) =Y(S)/R(S) =
H(S) =

When K=1
H(S) =

Part Two: differential equation relating input and output.

Part Three:
The transfer function of this system contains the constant K (gain) as one of its parameters. In this project we are simulating the step response for K=0.1, K=10 and K=100. The effects of the varying gains will be analyzed by plotting the input, output and error of the system for each of the three different gains.

When K=0.1
H(S) =

This transfer function is modeled by the following Simulink diagram.

Graph of Input and Output for K=0.1

Graph of Error signal

When K=10

H(S) =

This transfer function is modeled by the following Simulink diagram.

Graph of Input and Output when K=10.

Graph of error signal when K=10

When K=100

H(S) =

This transfer function is modeled by the following Simulink diagram.

Graph of input and output when K= 100.

Graph of error signal when K=100

Part Four:
In this section of the project we determine if the system reaches the desired steady state and if so how long does it take. We will also determine poles for and specify which systems are stable. Then I will make a recommendation of which K value to use.

When K=0.1
The poles of this system and the graph are found using the following MATLAB code:
>> H=tf([0.1 0.2 0.1],[1.2 0.5 1.4 0.1]);
>> iopzmap(H);
>> poles=roots([1.2 0.5 1.4 0.1])

poles = -0.1718 + 1.0545i -0.1718 - 1.0545i -0.0730 + 0.0000i

Since