수중운동체 기동 모사를 위한 선형·비선형 운동방정식 비교 분석

이호진¹ ; 현철¹^{, *} ; 김현승² ; 김창환¹

1LIG넥스원 전장분석개발팀 수석연구원
2LIG넥스원 전장분석개발팀 선임연구원

Comparison and Analysis of Linear-nonlinear Dynamic Equations for Underwater Vehicle Maneuvering Simulation

Hojin Lee¹ ; Chul Hyun¹^{, *} ; Hyunseung Kim² ; Changhwan Kim¹

1Principal researcher, Dept. of Battlefield Analysis and Development, LIG Nex1
2Senior researcher, Dept. of Battlefield Analysis and Development, LIG Nex1

Correspondence to: ^*Chul Hyun Dept. of Battlefield Analysis and Development, 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 논문에서는 대칭 형태를 갖고 고속 주행하는 수중운동체의 기동을 표현할 수 있는 비선형과 선형 6자유도 운동방정식을 도출하였다. 각각의 운동방정식은 상용 프로그램을 이용하여 동일한 형태의 제어모델과 통합하였고, 여러 기동 조건에 대한 수치 시뮬레이션을 수행하였다. 시뮬레이션 결과 대부분 비선형과 선형 운동방정식 결과가 거의 일치하였다. 급기동이 많지 않은 조건에서의 대략적인 특성 분석이나 제어 성능 확인을 위한 용도로는 단순화된 선형 모델을 사용해도 무방함을 확인하였다.

Abstract

In this paper, we derived nonlinear and linear 6-DOF motion equations that can represent the maneuvers of underwater vehicles with symmetric shapes and high-speed running. Each motion equation was integrated with a control model of the same form using a commercial program, and numerical simulations were performed for various maneuver conditions. The simulation results showed that the results of the nonlinear and linear motion equations were almost identical in most cases. We confirmed that a simplified linear model can be used for rough characteristic analysis or control performance verification under conditions where there are not many sharp maneuvers.

Keywords:

Autonomous Underwater Vehicle, 6DOF Motion Equation, Nonlinear Motion Equation, Linear Motion Equation

키워드:

자율수중운동체, 6자유도 운동방정식, 비선형 운동방정식, 선형 운동방정식

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