호버링 자율 무인 잠수정의 구현과 6자유도 PID 제어기 설계

Abstract

Recently, Interest of ocean energy resource is increasing cosmopolitanly. It extend ocean robots developing investigation, then various robot was actively developed. Ocean robots are composed ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle). ROV is easy to control that is connected power cable and signal cable. But ROV's movement is limited by cable length. AUV is not limited movement radius. Because it includes in power supply and controller. AUV is composed CAUV(Cruising AUV) and HAUV(Hovering AUV). CAUV explores expense of region, HAUV performs detail explore by a maintain posture in specific location. In this master's paper, I developed HAUV that is composed of 4 mechanical parts and 5 thrusters and designed PID controller for controlling 6-DOF(Degrees Of Freedom). The 4 mechanical parts are composed battery part, main control part, motor control part, and communication part. The 5 thruster are composed 2 rotating thruster that are omnidirectional, 2 horizontal thrusters, and 1 vertical thruster. The rotating thrusters are able to rotate by using 2 servo motor. Thrusters are control 6-DOF that X, Y, Z, K, M, N through PID controller. Through vertical and horizontal movement's experimentations, I confirmed controller's performance is high quality.