천해용 자율무인잠수정의 운동시뮬레이션과 실험
- Alternative Title
- Motion Simulations and Experiments of An Autonomous Underwater Vehicle for Shallow-water Operations
- Abstract
- 천해에서 동작하는 자율무인잠수정은 넓은 지역탐사와 자유로운 항해가 어려우므로 복합적인 시스템의 무인잠수정을 개발하여 정밀한 자세제어를 하는 것이 필요하다. 무인잠수정의 호버링 또는 저속상태의 움직임을 제어하는 것은 매우 중요하고 자율무인잠수정의 동역학에 큰 영향을 받는다. 자율 무인잠수정의 성능을 개선하고 제어시스템의 개선을 통해 이런 사항들을 구현할 수 있으며 본 연구에서는 자율 무인잠수정의 동역학을 고려한 설계를 통해 자율무인잠수정의 시스템을 구성하고 AUV의 운동성능을 시뮬레이션과 실험을 통해 검증하는 것을 목적으로 한다. 여기서 자율무인잠수정의 동역학 모델은 외력, 유체정역학적인 힘, 양력, 항력을 포함하고 Added Mass를 포함한 계수들을 가지며 제어입력각으로서 자율무인잠수정의 Fin angle에 의해 제어된다. 무인잠수정의 운동은 매우 비선형적이며 불확실한 변수를 가지고 있기 때문에 이를 선형화시켜서 동역학 모델을 구하고 PD제어기와 슬라이딩모드 제어기를 설계하여 원하는 위치를 유지하는 제어방법을 적용할 것이다. 그리고 AUV의 운동방정식을 이용한 Matlab 시뮬레이션을 통해 AUV의 평면, 수직 운동 및 Way-point 추적 운동 성능을 확인한다. 자율무인잠수정의 운동은 6자유도 운동방정식의 수치적분법으로 나타낼 수가 있으며 시뮬레이션의 출력값은 실험값과 비교하여 나타낸다.
- Issued Date
- 2011
- Awarded Date
- 2011. 8
- Type
- Dissertation
- Keyword
- 무인잠수정 PD controll Sliding mode controll
- Publisher
- 부경대학교
- Alternative Author(s)
- Kim, Moung Wook
- Affiliation
- 부경대학교
- Department
- 대학원 메카트로닉스공학과
- Advisor
- 백운경
- Table Of Contents
- Abstract ········································································· 1
1. 서론 ··········································································· 2
1.1 연구배경 ··································································· 2
1.2 연구목적 ··································································· 4
1.3 연구범위 ··································································· 4
2. AUV 시스템의 구성 ······················································· 5
2.1 AUV 선체 및 유한요소 해석 ··········································· 5
2.2 AUV 추진 및 조타 시스템 ·············································· 9
2.3 AUV 센서/통신/컴퓨터 시스템 ········································ 13
3. AUV의 동역학 모델 ······················································· 14
3.1 AUV의 운동좌표계 ······················································ 14
3.2 AUV의 6자유도 동역학 모델 ·········································· 16
3.3 AUV의 3자유도 동역학 모델 ·········································· 22
3.4 AUV의 수중항력 계수 ·················································· 28
4. AUV의 운동 제어기 설계 ················································· 31
4.1 PD제어 및 슬라이딩 모드 제어 ······································· 31
4.2 AUV의 수평면 운동제어기 ············································· 36
4.3 AUV의 수직면 운동제어기 ············································· 51
4.4 Way-point 추적 알고리즘 ·············································· 57
5. AUV의 운동 시뮬레이션 ·················································· 58
5.1 수평면 운동 시뮬레이션 ················································ 58
5.2 수직면 운동 시뮬레이션 ················································ 59
5.3 Way-point 추적운동 시뮬레이션 ······································ 67
6. AUV 운동성능 시험과 시뮬레이션 결과 비교 ························· 76
6.1 수평면 운동시험 ························································· 76
6.2 수평면 Way-point 추적운동 시험 ····································· 78
6.3 수직면 운동시험 ························································· 79
7. 결론 ·········································································· 80
참고문헌 ········································································ 82
부록 ············································································· 84
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