# 제주대학교 Repository

### 만타형 무인잠수정의 자율운항 성능시험에 관한 연구

Alternative Title
A Study on Autonomous Navigation Experimental Test for Manta-type Unmanned Underwater Vehicle
Abstract
This thesis describes mathematical modeling, system design, and experimental test for Manta-type Unmanned Underwater Vehicle. Mathematical modeling of vehicle has been made of 6-DOF equations of motion and hydrodynamic coefficients that calculated by PMM test. Dynamic performance test was comparing simulation result with free-running test. Simulation program was made by Matlab of Simulink. The vehicle type is special appearance such as Manta-type and its dimensions are 1.5m(L) × 0.55m(B) × 0.28m(H). The vehicle has equipped one 350 watt thruster for longitudinal propulsion, one rudder for heading angle control and four elevators for depth control. The sensor for measuring location and position information are DVL, Pressure sensor, GPS, Gyrocompass. All sensors are controlled by on-board computer. Free-running test was performed at yacht harbor in Korea Maritime University. Aim of this test is to compare the simulation result and dynamic performance of Manta-type UUV. Experimental test was performed such as surge, sway, and heave motions of Manta-type UUV by PID controller and finally, autonomous navigation control was performed.
Author(s)
Issued Date
2011
Awarded Date
2012. 2
Type
Dissertation
URI
http://dcoll.jejunu.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000005883
Alternative Author(s)
Affiliation
Department
List of table I
List of figure II
1. 서 론 1
1.1 연구 배경 1
1.2 연구 내용 2
2. 수학 모델링 및 제어기 설계 4
2.1 만타형 무인잠수정의 수학모델 4
2.2 6자유도 운동방정식 5
2.3 운동 성능해석 8
2.3.1 시뮬레이션 프로그램 8
2.3.2 운동성능 시뮬레이션 9
2.4 제어기 설계 12
2.4.1 수심 제어 13
2.4.2 방향 제어 13
2.5 제어성능 해석 14
2.5.1 제어 시뮬레이션 프로그램 14
2.5.2 제어성능 시뮬레이션 15
3. 만타형 잠수정 설계 20
3.1 설계목표 20
3.2 만타형 잠수정 제작 21
3.2.1 선형(Hull shape) 23
3.2.2 부력재(Buoyancy material) 24
3.2.3 내압용기(Pressure Housing) 24
3.2.4 추진기(Thruster) 26
3.2.5 수직타와 수평타 27
3.3 계측 및 제어 시스템 29
3.4 센서 및 전원 33
3.4.1 DVL(Doppler Velocity Log) 34
3.4.2 자이로 컴파스(Gyrocompass) 35
3.4.3 압력센서 35
3.4.4 GPS(Global Positioning System) 37
3.4.5 배터리 및 전원회로 38
3.4.6 통신 39
4. 실해역 성능 시험 40
4.1 운동성능 시험 40
4.1.1 직진 운항 41
4.1.2 수평 선회 42
4.1.3 수평 지그재그 44
4.2 자율운항 성능시험 45
4.2.1 방향제어 45
4.2.2 수심제어 47
4.2.3 자율경로주행 48
5. 결론 51
참고문헌 53
Degree
Master
Publisher
제주대학교 대학원
Citation
고성협. (2011). 만타형 무인잠수정의 자율운항 성능시험에 관한 연구
Appears in Collections:
Faculty of Earth and Marine Convergence > Ocean System