유체항력 계산을 통한 자율무인잠수정의 6자유도 모델링 및 시뮬레이션

Abstract

An autonomous underwater vehicle is utilized in variety field for underwater circumstances. So we need to know the system of AUV to use properly. The motion of AUV can be defined as a 6 Degree of freedom dynamics model which is composed of the complex components. The motion of AUV is nonlinear because of uncertain variables. Therefore we have to define the dynamic system of components of AUV for the development of AUV to the precise attitude control. In this thesis, the motion controller of AUV is designed by using PD controller. And hydrodynamic coefficients would be calculated based on theoretical method and CFD. 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 dynamics model of Autonomous underwater vehicle includes hydrostatic force, hydro damping, fin force, added mass, thrustor force. An AUV motion of horizontal is controlled by two rudder fin and motion of vertical is controlled by two stern fin. The dynamic simulation of AUV is based on Matlab program which can perform the horizontal, vertical , way-point tracking motion including 3 dimension points. Simulation results and experiment results were compared in this thesis.