수중정찰용 자율무인잠수정의 운동 모델링 및 시험을 통한 계수 조정

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 29; no. 6; pp. 488 - 498
• Main Authors: 이필엽(Phil-Yeop Lee), 박성국(Sung-Kook Park), 권순태(Soon Tae Kwon), 박상웅(Sangwoong Park), 정훈상(Hunsang Jung), 박민수(Min-Soo Park), 이판묵(Pan-Mook Lee)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2015
• Subjects: 해양공학; Maneuvering coefficients tuning 조종계수 튜닝; Autonomous underwater vehicle (AUV) 자율무인잠수정; Underwater surveillance 수중 정찰; Motion control 운동 제어; Dynamic modeling 운동 모델
• ISSN: 1225-0767; 2287-6715

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.