제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.86-89
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- 1992
적응노치필터를 이용한 심도제어시스템 외란처리
Disturbance countermeasurement of depth control system using adaptive notch filter
초록
One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generaly of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally much 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 disigned adaptive notch filtering system using filter bank structure. Energies of each band-passed signal are obtained by MA(Moving Average) method and compared to produce center frequency. By adapting this parameter to notch filter, 1st order seaway disturbance can be removed, which lead to the improvement of automatic depth control system.
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