해상시험 결과를 활용한 수중 운동체의 롤 댐핑 계수 튜닝

현철¹^{, *} ; 김현승² ; 이성균¹ ; 이호진¹

1LIG넥스원 체계공학팀 수석연구원
2LIG넥스원 체계공학팀 선임연구원

Tuning of Roll Damping Coefficient of Underwater Vehicle Using Sea Trial Results

Chul Hyun¹^{, *} ; Hyun Seung Kim² ; Sungkyun Lee¹ ; Hojin Lee¹

1Principal researcher, Dept. of System Engineering, LIG Nex1
2Senior researcher, Dept. of System Engineering, LIG Nex1

Correspondence to: ^*Chul Hyun Dept. of System Engineering, LIG Nex1 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5178-4293 Fax: +82-31-5179-7086 E-mail: chul.hyun@gmail.com

초록

본 논문은 고속 주행하는 소형 수중 운동체의 해상시험 결과를 활용한 롤 축의 운동방정식 계수 수정 과정을 다룬다. 수중 모형 시험 결과를 근사하여 산출되는 수중 운동체 조종 운동 방정식의 유체력 미계수 오차를 해상 시험 결과와 비선형 운동 모델에 대한 시뮬레이션 결과를 비교함으로써 보다 정확한 값을 추정해냈다. 제어법칙도 수정된 운동 방정식에 맞도록 수정함으로써, 진동현상이 발생했던 기존 해상 시험보다 안정적인 롤 제어 성능을 획득할 수 있었다.

Abstract

This paper describes the process of modifying the coefficients of the equation of rolling motion using the results of sea trials of a high speed small underwater vehicle. The errors of the hydrodynamic coefficients in the underwater vehicle control motion equation, which are estimated using the results of VPMM tests, are compared with the results of the sea trials and simulation of a nonlinear model to estimate a more accurate value. By modifying the control law to match the modified dynamic equation, it was possible to obtain more stable roll control performance than the existing sea trial, which had vibration problems.

Keywords:

Autonomous Underwater Vehicle, Hydrodynamic Coefficient, Roll Control, Dynamics of Underwater Vehicles

키워드:

자율수중운동체, 유체력계수, 롤 제어, 수중운동체 동역학

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