Modelling submarine control surface deflection dynamics / George D. Watt ; approved by W.C.E. Nethercote. : D68-21/27-1990E-PDF

"An algorithm is presented for modelling the time response of a lifting surface control system to an arbitrary set of commands. Response dynamics are governed by a linear, second order, ordinary differential equation. This allows the control system response frequency and damping to be modelled, as well as current control surface position and rate of change of position to be matched when a new command is issued. In order not to exceed the rate limit of the control system, yet maintain continuity in the response and its high order derivatives in time, the algorithm reduces response frequency when large deflection changes are required. This approach is compared to a common first order model, and to a second order model having piecewise continuous high order time derivates but which always models both response frequency and rate limit"--Abstract, page ii.

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