Modelling and simulation for underwater hovering control based on ballast tank

This paper presents an integrated modelling method for submarine hovering system which equipped ballast tank to adjust vehicle position and altitude. Ballast system model including high pressure bottle and ballast tank is made first of all, and then the disturbance force considering compressibility and sea environment. Discharged coefficient of orifice is taken into account, and necessary linearity to avoid solver difficulties is made. To demonstrate the accuracy of model, numerical simulations in Matlab are run both for blowing and venting process only, and depth changing maneuver of hover system, multidomain physical system “Simscape” is introduced for more efficient simulation.