수중탐사용 Hovering AUV의 Test-bed 개발
- Alternative Title
- Development of a Hovering AUV Test-bed for Underwater Explorations
- Abstract
- This paper describes the design and performance of a hovering AUV test-bed 'NOAH' constructed and analyses the dynamic performance of the underwater vehicle using simulation program MATLAB/SIMULINK and carry out depth control test at small basin. The main purpose of 'NOAH' is to carry out fundamental tests on its station keeping, attitude control, and position control. It can be a tool to evaluate the performance of a new control algorithm, operating software and the characteristics of sensors for the AUV. Its configuration is similar to the general ROV appearance for underwater explorations and its dimensions are 0.75m×0.5m×0.5m. It has 4 thrusters, two longitudinal thrusters that had 350watts and one lateral/vertical thruster that has 300watts propulsion. The vehicle is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an small on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an ideal environment for developing various algorithms needed for developing and advancing hovering AUV.
- Issued Date
- 2007
- Awarded Date
- 2007. 2
- Type
- Dissertation
- Alternative Author(s)
- Byun, Seung-Woo
- Affiliation
- 제주대학교 대학원
- Department
- 대학원 해양정보시스템공학과
- Advisor
- 김준영
- Table Of Contents
- 1. 서론 = 1
1.1 연구배경 및 목적 = 1
1.2 연구동향 = 2
1.3 연구내용 = 4
2. NOAH의 개발 = 5
2.1 설계목표 = 5
2.2 하드웨어 제작 = 7
2.2.1 선형 (Hull shape) = 9
2.2.2 부력재 (Buoyancy material) = 10
2.2.3 내압용기 (Pressure housing) = 10
2.2.4 추진기 (Thruster) = 11
2.2.5 커넥터 (Connector) = 14
2.2.6 Master PC (On-board PC) = 15
2.2.7 압력센서 (Pressure sensor) = 18
2.2.8 자력 컴퍼스 (Magnetic compass) = 20
2.2.9 배터리 (Batteries) = 23
2.2.10 제어시스템 구성도 = 24
3. NOAH의 모델링 = 25
3.1 NOAH의 수학적 모델 = 25
3.1.1 6 DOF 운동방정식 = 25
3.1.2 운동성능 해석 = 28
3.2 제어기 설계 = 34
3.2.1 수심제어 = 36
3.2.2 방향각제어 = 40
4. 수조실험 = 44
4.1 수심제어 실험 = 45
5. 결론 = 49
참고문헌 = 51
Appendix = 55
A. 추진력 계산 = 55
B. 부력 계산 = 56
감사의 글 = 57
- Degree
- Master
- Publisher
- 제주대학교 대학원
- Citation
- 변승우. (2007). 수중탐사용 Hovering AUV의 Test-bed 개발
- Appears in Collections:
- Faculty of Earth and Marine Convergence > Ocean System
- Files in This Item:
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