호버링 자율 무인잠수정의 구현과 깊이 제어기의 설계

Abstract

Energy consumption in developed countries has been increased, therefore development of deep-sea oil field using a marine plant has become more active. Therefore, the role of AUV(autonomous underwater vehicle) will be important in seabed resource exploration and maintenance of the marine plant. AUV is utilized in diverse areas such as seabed mapping work of oil, gas exploration, marine, underwater mine detection, etc. In order to operate AUV in the different environmental conditions, it needs to have a robust controller to carry out a specific mission. In this study, hovering AUV (HAUV) is designed and implemented. It consists of four parts: the power supply module, the sensor module, the system control module, and the motor control module. The system control module which consist of a depth and IMU (inertial measurement unit) sensor modules, sends depth and attitude data to the motor control module. The motor control module controls the depth of HAUV with azimuth and horizontal thrusters. The proposed HAUV is simulated using a Matlab/Simulink. The implemented HAUV is also tested in water tank and its depth controller is examined for various depth disturbance levels. Experimental results show that HAUV maintains the depth error of ± 10 cm.