다물리 추진기 모델을 사용한 무인잠수정의 모델기반 정밀운동 제어 연구

Abstract

In the stage of concept design which underwater vehicles, it is important to estimate the vehicle’s underwater performance. The key design elements for the motion are propellers, battery power, and underwater resistance of the vehicle. Usually small thrusters with motor and propeller are used for the UUV(unmanned underwater vehicles). In this study, a multiphysics thruster model that combining electro-mechanical and hydrodynamics characteristics and propeller geometry were proposed to estimate the thruster performance. To show the applicability of the mathematical model, an sample thruster was used for the derive the unknown parameters of thruster. Most parameters were derived from experiment of thruster. Lift force and drag force coefficients are important for calculate of thrust. For obtains the propeller's 3D data, 3D scanning equipment was used. And that data was conversioned to CATIA file. In CFD(ANSYS/CFX)analysis, we obtained the results that velocity vector, streamline, pressure field of propeller. Finally, propeller's hydrodynamic parameters that lift and drag coefficient were calculated by equation of fluid mechanics. Matlab/simulink program was used for the numerical simulation to predict the thruster performance from the given input data which voltage and current to the motor. Test were done by 3 mode that are low speed, middle/high speed, reverse. Also, simulation model's validity was proved by experiment test. The thrust curves of thruster which obtained from this experiment test were similar to simulation results. So, conformed thruster model is veridity. For model based accurate motion control of Hovering AUV, equations of motion were founded in 6 degree of freedom. The equation of motions were simplied and ignored, if it is not important. This paper studied surge, sway, heavy velocity and distances(x, y, z). Also studied yawing angle(ψ)and angular velocity(r)of Hovering AUV. The thrust simulation results were used in Hovering AUV simulation program. Finally model based control is completed. Now we can predict basic performance of Hovering AUV. For example basic performance of Hovering AUV is cruising velocity, caperbility of battery, distance. And PD control used for Hovering AUV. Hovering AUV Animation program was made by RecurDyn program. The model based control or design is important because it is save resources which are time, money, effort and reduce to risk that changed ROC. Model based control is offer to desiner as powerful design tool, although changing ROC or changing buyer. Results of this study that model based control method, can using different field which are car and aircraft industry.