Design Considerations for a Supporting Platform and an Emergency Escape Capsule for Working Divers, Volume 1 |
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20 PLATFORM THEORETICAL acoustic analysis applications assumed base basic body buoyancy calculated Chapter coefficient condition consideration considered control gain control system correction counts depth derivative designed determined developed direction discussed DISPLACEMENT diver drag drill dynamic positioning efficiency equations equipment error expected fixed Force in thruster four given heading horizontal hydrophone inches known mass Maximum means measurement error measuring system motors needed object operation performance ping pitch plane Platform motion PLATFORM THEORETICAL MOTION position error possible present pressure produced propeller proportional pulse R₁ range receivers reference relative respect response roll rotation satellite scheme SECS short short-pulse load signal speed stability steady load steady pulsive load submersibles surface tasks THEORETICAL MOTION Fig thrust tracking underwater vehicle vertical vessel weight