자율무인 잠수정 운동제어 시뮬레이터 개발 연구

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 dynamics model of Autonomous underwater vehicle includes hydrostatic force, hydro damping, fin force, added mass, thrustor force. These variables control system in order to apply it to reflect the actual physical phenomenon about the characteristics of the various forces and the hull needs to be modeled mathematically. Set the path to take command of the driver and the path and progress of AUV heading to compensate for the difference between each Track angle error tracking algorithm and the PD controller via the control input value to minimize the error value was calculated. The dynamic simulation of AUV is based on Matlab program which can perform the horizontal, vertical , way-point tracking motion including 3 dimension points. And using Labview simulation was performed to configure the Simulator AUV made ​​applicable to the actual performance compared to the motion controller and the performance of the algorithm were verified.