AUV의 개념설계를 위한 운동해석

Abstract

AUVs(Autonomous Underwater Vehicles) are used for various scientific researches, commercial and military applications in the recent years. The structure of the AUVs consists of various parts (such as main body, thruster, rudder, power pack, camera, sensor, etc.) The body of the AUV must resist against the underwater hydraulic pressure. The thruster at the stern of the AUV must push the main body at an appropriate speed. The rudders controls the direction of the AUV. The battery must support a sufficient power for the operation of the AUV. In this thesis, the basic concept for the motion performance of AUVs is described for the initial design stage. This thesis also describes the mathematical model of the dynamic motion of the AUV. Finally, based on the mathematical model, the AUV's dynamic motions were simulated using Matlab code to verify the initial design concept.