Speed, Depth and Steering Control of Underwater Vehicles with Four Stem Thrusters - Simulation and Experimental Results

J. Ocean Eng. Technol. 2005;19(2):67-73.

JUN BONG-HUAN;LEE PAN-MOOK;LI JI-HONG;HONG SEOK-WON;LEE JIHONG;

Ocean Development System Laboratory, KORDI;Ocean Development System Laboratory, KORDI;Ocean Development System Laboratory, KORDI;Ocean Development System Laboratory, KORDI;Chungnam National University;

네 대의 주 추진기를 이용한 무인잠수정의 속도, 심도 및 방위각 제어 - 시뮬레이션 및 실험

전봉환;이판묵;이계홍;홍석원;이지홍;

한국해양연구원 해양개발시스템연구본부;한국해양연구원 해양개발시스템연구본부;한국해양연구원 해양개발시스템연구본부;한국해양연구원 해양개발시스템연구본부;충남대학교 메카트로닉스공학과;

Keywords: Underwater Vehicle, Multivariable LQ Control, Four Stem Thrusters, Tank-test

핵심용어: 자율무인잠수정, 다변수 LQ 제어, 네 개의 주 추진기, 수조시험

Abstract

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode