호버링 타입 자율무인잠수정의 운동제어 시뮬레이션

Abstract

Seabed there is a wealth of resources available to mankind for thousands of years to at least a hundred years. In order to ensure these resources exploring the seabed, such as installing a structure capable of ensuring marine robot technology is needed. In this study, perform the design and simulation of a HAUV(hovering type autonomous underwater vehicle) that the offshore monitering, undersea exploration is the main purpose. A HAUV is utilized in variety field for underwater circumstances. So we need to know the system of HAUV to use properly. The motion of HAUV can be defined as a 6 degree of freedom dynamics model which is composed of the complex components. The motion of HAUV is nonlinear because of uncertain variables. Therefor we have to define the dynamic system of components of AUV for the development of HAUV to the precise attitude control. The equation of motion is induced for dynamic control simulation of HAUV, and added mass, drag and lift force and thruster force of external forces acting on the HAUV are modeled. The formula was defined by Imlay is using for the added mass modeling, and the coefficient values of a two-dimensional shape are determined. And drag & lift coefficient are defined using computational fluid dynamics. The motion controller of HAUV is designed by using PD controller. For applying linear control system, nonlinear components would be linearized. A 6 D.O.F would be divided horizontal motion and vertical motion to approach simply. The dynamic simulation of HAUV is based on MATLAB program which can perform the x axis ,y axis ,z axis, way-point tracking motion including 3 dimension points. And The dynamic behavior is confirmed by simulation result.