An automatic depth-control system for a robot submarine is shown in Figure P3.7.The
Chapter 0, Problem P3.7(choose chapter or problem)
An automatic depth-control system for a robot submarine is shown in Figure P3.7.The depth is measured 221 FIGURE P3.5 Closed-loop system. RU) K 3 -N > I Controller s+ l s + 6 Voltage 1 .9- 2 Velocity 1 Hs) Position R[s) Desired depth + /~N Actuator K S G(s) Pressure measurement ii^ , - 1 s m Depth FIGURE P3.6 RLC circuit. FIGURE P3.7 Submarine depth control. by a pressure transducer. The gain of the stern plane actuator is K = 1 when the vertical velocity is 25 m/s. The submarine has the transfer function r
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