AUV 정상 직선주행 중 Roll-Equivalent Residual Control Activity의 시험데이터 기반 분석

현철¹^{, *} ; 이성균¹ ; 고진용¹ ; 전우중²

1LIG디펜스&에어로스페이스 M&S팀 수석연구원
2LIG디펜스&에어로스페이스 M&S팀 선임연구원

Sea-Trial Data-Based Analysis of Roll-Equivalent Residual Control Activity in an AUV During Straight Cruising

Chul Hyun¹^{, *} ; Sungkyun Lee¹ ; Jinyoung Go¹ ; Woojoong Jeon²

1Principal researcher, M&S Team, LIG Defense&Aerospace
2Senior researcher, M&S Team, LIG Defense&Aerospace

Correspondence to: *Chul Hyun 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5178-4293 E-mail: chul.hyun@gmail.com

초록

자세 응답만으로는 정상주행 중 제어입력에 남아 있는 반복적 활동이 충분히 드러나지 않을 수 있다는 점에서, 본 연구는 AUV 정상 직선주행 중 나타나는 roll-equivalent residual control activity를 해상시험 데이터 기반으로 분석한다. 십자형 4타 구조에서 개별 조종타 command 및 feedback을 roll-equivalent component로 재구성하고, 정상주행 segment의 시간·주파수 특성을 비교하였다. 분석 결과, roll 자세는 안정적으로 유지된 반면 roll-equivalent feedback은 평균 peak-to-peak 7.20 deg, 약 6 Hz dominant frequency의 반복 변동을 보였다. Roll 제어입력 분해 결과 roll-rate 항이 roll-equivalent command와 높은 상관성을 보여, roll-equivalent 재구성이 자세 응답만으로 드러나지 않는 제어입력 활동 분석에 유용함을 확인하였다.

Abstract

Because residual control-input activity during straight cruising may not be fully apparent from attitude response alone, this study analyzes roll-equivalent residual control activity of an AUV using sea-trial data. For a cross-type four-fin configuration, individual fin commands and feedback signals were reconstructed into roll-equivalent components, and their time- and frequency-domain characteristics were compared across straight-cruise segments. The results show that the roll attitude remained stable, whereas the roll-equivalent feedback exhibited repetitive fluctuation with a mean peak-to-peak amplitude of 7.20° and a dominant frequency near 6 Hz. Decomposition of the roll control input showed that the roll-rate term was strongly related to the roll-equivalent command, confirming the usefulness of roll-equivalent reconstruction for analyzing control-input activity not apparent from attitude response alone.

Keywords:

Autonomous Underwater Vehicle, Roll-Equivalent Control Input, Residual Control Activity, Sea-Trial Data, Control Input Reconstruction

키워드:

자율무인잠수정, Roll-Equivalent 제어입력, 해상시험 데이터, 제어입력 재구성

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