자율무인잠수정의 선수각 및 심도 제어기 설계와 외란응답 특성분석

Abstract

This thesis presents dynamic motion controllers and disturbance analysis about the motion responses of the ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV(Autonomous Underwater Vehicle) that is developed from KORDI(Korea Ocean Research & Development Institute). The ISiMI AUV is a torpedo-type AUV of which hull is designed based on the Myring hull profile equations. The ISiMI AUV controls forward speed with a propeller, vertical and roll motion with two stern plane and horizontal motion with a rudder It is well known that fine control of AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. Sliding mode controller is one of them successfully applied the motion controllers of AUV. Though many studies are conduced to design the motion controller using sliding mode controller design method, there are few works to carry out for the disturbance analysis of control responses comparing with a classical linear controller. In this thesis, linear and perturbed numerical model of the ISiMI AUV is presented based on the 6-DOF equations of the ISiMI AUV’s motion. The motion controllers of the ISiMI AUV are designed using both of PD and sliding mode controller design method. Then, robustness of the two controllers against the disturbances is analyzed quantitatively based on numerical simulation.