수중운동체 구동기의 전달함수 기반 모델링 및 제어 성능 분석

현철¹^{, *} ; 김현승² ; 김창환¹ ; 이호진¹

1LIG넥스원 해양연구소 수석연구원
2LIG넥스원 해양연구소 선임연구원

Transfer Function-Based Modeling and Control Performance Analysis of an Underwater Vehicle Actuator

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

1Chief research engineer, Maritime R&D Center, LIG Nex1
2Research engineer, Maritime R&D Center, LIG Nex1

Correspondence to: ^*Chul Hyun Maritime R&D Center, 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 연구는 수중운동체의 제어핀 구동기 동적 특성을 모델링하고, 이를 기반으로 제어 성능을 분석하는 데 초점을 맞춘다. 기존의 다자유도 스러스터 기반 시스템과 달리, 본 연구에서 다루는 수중운동체는 프로펠러와 꼬리날개 제어핀만으로 제어되는 제한적 구동 시스템이다. 이를 위해 해상시험 데이터를 활용하여 구동기의 동적 거동을 1차, 2차, 3차 전달함수 형태로 모델링하였으며, 각 모델의 정확도를 RMS 오차를 기준으로 비교 분석하였다. 본 연구는 구동기 동적 특성을 반영한 모델을 통해 제어 시스템 설계 및 시뮬레이션의 신뢰성을 높이는 데 기여하고자 한다.

Abstract

This study focuses on modeling the dynamic characteristics of control fin actuators in an underwater vehicle and analyzing their impact on control performance. Unlike conventional multi-thruster systems, the underwater vehicle in this study is a limited actuation system controlled solely by a propeller and tail control fins. To model the dynamic behavior of the actuators, sea trial data were utilized to develop first-, second-, and third-order transfer function models, and their accuracy was evaluated based on RMS errors. This research aims to enhance the reliability of control system design and simulations by incorporating actuator dynamics into the models.

Keywords:

Autonomous Underwater Vehicle, Actuator Modeling, Control Performance Analysis, Transfer Function Modeling

키워드:

자율수중운동체, 구동기 모델링, 제어 성능 분석, 전달함수 기반 모델링

References

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