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A DAMPED CONTROL SYSTEM FOR AIMING A

HYDROPHONIC ARRAY ON A MINESWEEPER


VESSEL

A hydrophone is a microphone designed to be used under water for recording or listening to
underwater sound. Multiple hydrophones can be arranged in an array so that it will add the
signals from the desired direction while subtracting signals from other directions. The array may
be steered using a beamformer.
The open-loop transfer function from the driveshaft to the array.

The gain parameter K can be varied. The moment of inertia, J, of the array and the force
due to viscous drag of the water, K
d
are known constants and given as:


The block diagram of the system is as follows. We know the open-loop transfer function, and
that there is unity feedback. Therefore, we have:

The closed-loop gain is given by:
H(s)