추력편향방식 AUV의 직진안정성 개선을 위한 고정핀 설계

김동진; 권창섭; 김연규; 박진영; 전봉환

doi:10.5302/J.ICROS.2022.22.0170

주제분류

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저널정보

제어로봇시스템학회
제어로봇시스템학회 논문지 학술저널
제어로봇시스템학회 논문지 제28권 제12호
2022.12 1,109 - 1,120 (12page)
DOI : 10.5302/J.ICROS.2022.22.0170

저자정보

김동진 (선박해양플랜트연구소)
권창섭 (선박해양플랜트연구소)
김연규 (선박해양플랜트연구소)
박진영 (선박해양플랜트연구소)
전봉환 (선박해양플랜트연구소)

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초록·키워드

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AUVs (Autonomous Underwater Vehicles) have been widely used for various underwater survey missions. In general, cruising type AUVs have torpedo-shaped hull forms for minimizing the hull resistances. It is necessary to ensure there are sufficient straight-line stabilities for a cruising type AUV in order to maintain its desired courses and depths with minimum controls during operations. In this study, vertical and horizontal plane straight-line stabilities of a designed AUV are analyzed based on the captive model tests. VPMM (Vertical Planar Motion Mechanism) tests are carried out to obtain hydrodynamic coefficients of the designed AUV. The AUV shows both vertical and horizontal plane instabilities, its stability margin indices are unsatisfying when compared with the recommended values. But the recommended vertical plane stability margins are subject to very high-speed conditions, so the characteristic equations of the AUV are reconsidered to investigate low-speed vertical plane stabilities in more detail. Next, a pair of horizontal and vertical fins are respectively designed to improve the vertical and horizontal plane stabilities of the AUV. The AUV with fixed fins shows improved stability margin indices within the recommended levels. In addition, the shape of the horizontal fins is properly modified for safe operations. The AUV with the designed vertical fins shows good horizontal plane stability in straight run simulations with step disturbances. And the effects of the horizontal fins are investigated through depth control simulations with biased random disturbances.

#Autonomous Underwater Vehicle (AUV) #Thrust vectoring system #Vertical Planar Motion Mechanism (VPMM) test #Straight-line stability #Fixed fins