제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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- Pages.637-641
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- 1991
자유표면에서의 수중함 심도제어 시스템 성능 개선
Performance Enhancement of Auto-Depth Control System for Submersed Body in Near Surface Environment
초록
One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. When a underwater vehicle operates in a near surface environment, the seaway generates essentially two types of stochastic disturbances that influence the boat notion. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generally of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally such greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we used LPC(Linear Predictive Coding) processing to uncontrollable seaway disturbance. This method can be used extensively in sensor signal processing of underwater vehicles.
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