한국해양공학회:학술대회논문집 (Proceedings of the Korea Committee for Ocean Resources and Engineering Conference)
- 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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- Pages.351-354
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- 2006
자율무인잠수정 이심이의 선수각 및 심도 제어기 설계와 외란 특성 분석
Design on Yawing And Depth Controller And Analysis of Disturbance Characteristic about the AUV ISiMI
- 마성진 (한국해양연구원 해양시스템기술연구본부) ;
- 전봉환 (한국해양연구원 해양시스템기술연구본부) ;
- 이판묵 (한국해양연구원 해양시스템기술연구본부) ;
- 김상봉 (부경대학교 기계공학부)
- Ma, Sung-Jin (Ocean Development System Laboratory, KORDI) ;
- Jun, Bong-Huan (Ocean Development System Laboratory, KORDI) ;
- Lee, Pan-Mook (Ocean Development System Laboratory, KORDI) ;
- Kim, Sang-Bong (Pukyong National University)
- 발행 : 2006.11.16
초록
In underwater environment, the control of AUV is difficult, because of the existence of parameter uncertainties and disturbances as well as highly nonlinear and coupled system dynamics. The requirement for the simple and robust controller which works satisfactorily in those dynamical uncertainties, call for a design using the PD or sliding mode controller. The PD controller is very popular controller in the industrial field and the sliding mode controller has been used successfully for the AUV controller design. In this paper, the two controllers arc designed for ISiMI(Integrated Submergible Intelligent Mission Implementation) AUV and the performances are compared by numerical simulation under the modeling uncertainty and disturbances. The design process of PD and sliding mode controller for ISiMI AUV and simulation results are included to compare the performances of the two controllers.
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