Design of Pitch Limit Detection Algorithm for Submarine

잠수함의 종동요각 한계예측 알고리즘 설계

Park, Jong-Yong;Kim, Nakwan;Shin, Yong-Ku

  • Received : 2015.10.01
  • Accepted : 2016.04.22
  • Published : 2016.04.30


An envelope protection system is a control system that allows a submarine to operate freely using its own operational envelope without exceeding the structural limit, dynamic limit, and control input limit. In this paper, an envelope protection system for the pitch angle of a submarine is designed using a dynamic trim algorithm. A linear quadratic regulator and artificial neural network are used for the true dynamics approximation. A submarine maneuvering simulation program developed using experimental data is used to validate the designed envelope protection system. Simulation results show the effectiveness of the designed envelope protection system.


Submarine;Safety operational envelope;Envelope protection system;Dynamic trim algorithm;Artificial neural network


  1. Bateman, A.J., Ward, D.G., Barron, R.L., Whalley, M.S., 1998. Piloted Simulation Evaluation of a Neural Network Limit Avoidance System for Rotorcraft. 24th Atmospheric Flight Mechanics Conference, 4252.
  2. Burcher, R., Rydill, L.J., 1995. Concepts in Submarine Design(2), Cambridge University Press.
  3. Falkena, W., Borst, C., Chu, Q.P., Mulder, J.A., 2011. Investigation of Practical Flight Envelope Protection Systems for Small Aircraft. Journal of Guidance, Control, and Dynamics, 34(4), 976-988.
  4. Gertler, M., Hagen G.R., 1967. Standard Equations of Motion for Submarine Simulation. NSRDC Report 2510.
  5. Gursoy, G., Yavrucuk, I., 2013. Engine Limit Detection and Avoidance for Helicopters with Multiple Limits. AIAA Atmospheric Flight Mechanics Conference, Boston, MA.
  6. Gursoy, G., Yavrucuk, I., 2015. Non-Iterative Adaptive Limit and Control Margin Estimation with Concurrent Learning. Proceedings of AIAA Atmospheric Flight Mechanics Conference, SciTech 2015, Kissemmee, FL.
  7. Sahani, N.A., 2005. Envelope Protection Systems for Piloted and Unmanned Rotorcraft. The Pennsylvania State University, Doctor's Thesis.
  8. Horn, J.F., Calise, A.C., Prasad, J.V.R., 1998. Flight Envelope Limiting Systems using Neural Networks. In Proceedings of the AIAA Atmospheric Flight Mechanics Conference, Boston, MA, 741-751.
  9. Horn, J., Calise, A.J., Prasad, J.V.R., 2002. Flight Envelope Limit Detection and Avoidance for Rotorcraft. Journal of the American Helicopter Society, 47(4), 253-262.
  10. Horn, J.F., Sahani, N., 2004. Detection and Avoidance of Main Rotor Hub Moment Limits on Rotorcraft. Journal of Aircraft, 41(2), 372-379.
  11. Shin, H.H., Lee, S.H., Kim, Y.D., Kim, E.T., Seong, K.J., Choi, H.S., 2010. Design of Flight Envelope Protection System on Velocity of Aircraft. Journal of the Korean Society for Aeronautical & Space Sciences, 38(4), 327-334.
  12. Shin, H.H., Lee, S.H., Kim, Y., Kim, E.T., Sung, K.J., 2011. Design of a Flight Envelope Protection System using a Dynamic Trim Algorithm. International Journal of Aeronautical and Space Sciences, 12(3), 241-251.
  13. Park, J-Y., Kim, N., Yoon, H.K., Kim, S.Y., Cho, H., 2015. Depth Controller Design for Submerged Body Moving near Free Surface Based on Adaptive Control. Journal of Ocean Engineering and Technology, 29(3), 270-282.
  14. Unnikrishnan, S., Prasad, J.V.R., Calise A.J., 2003. Adaptive Dynamic Trim Prediction for Limit Detection and Avoidance. AIAA Atmospheric Flight Mechanics Conference, Austin, TX.
  15. Yavrucuk, I., Prasad, J.V.R., Calise, A.J., 2002. Carefree Maneuvering Using Adaptive Neural Networks. Proceedings of the AIAA Atmospheric Flight Mechanics Conference and Exhibit, Monterey, CA.
  16. Yavrucuk, I., 2003. Adaptive Limit Margin Detection and Limit Avoidance. Georgia Institue of Technology, Doctor's Thesis.
  17. Yavrucuk, I., Unnikrishnan, S., Prasad, J.V.R., 2009. Envelope Protection for Autonomous Unmanned Aerial Vehicles. Journal of Guidance, Control, and Dynamics, 32(1), 248-261.



Supported by : SECRET PROJECT