대한조선학회논문집 (Journal of the Society of Naval Architects of Korea)

  • 제46권4호
  • /
  • Pages.382-390
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  • 2009
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  • 1225-1143(pISSN)
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  • 2287-7355(eISSN)
대한조선학회 (The Society of Naval Architects of Korea)
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LQR 제어 기법을 적용한 수면 근처에서의 수중운동체 심도 제어

Depth Control of a Submerged Body Near the Free Surface by LQR Control Method

  • 김동진 (서울대학교 조선해양공학과) ;
  • 이기표 (서울대학교 조선해양공학과) ;
  • 최진우 (서울대학교 조선해양공학과) ;
  • 이성균 (서울대학교 조선해양공학과)
  • Kim, Dong-Jin (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Rhee, Key-Pyo (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Choi, Jin-Woo (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Lee, Sung-Kyun (Department of Naval Architecture and Ocean Engineering, Seoul National University)
  • 발행 : 2009.08.20
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초록

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

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참고문헌

  1. Choi, J.H., Yeo, D.J., Rhee, K.P. and Park, J.Y., 2006, 'On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface,' Journal of the Society of Naval Architects of Korea, Vol. 43, No. 6, pp. 647-655 https://doi.org/10.3744/SNAK.2006.43.6.647
  2. Choi, J.W., Rhee, K.P., Ann, S.P. and Lee, S.K., 2008, 'Mathematical Model of Wave Forces and Moments for the Depth Control of a Submerged Body,' Proceedings of the Annual Spring Meeting of the Society of Naval Architects of Korea, pp. 1228-1235
  3. Dumlu, D. and Istefanopulos, Y., 1995, 'Design of an Adaptive Controller for Submersibles Via Multimodel Gain Scheduling,' Ocean Engineering, Vol. 22, No. 6, pp. 592-614 https://doi.org/10.1016/0029-8018(94)00025-3
  4. Hao, Y., Donghui S. and Zhilan, X., 2004, 'Design of Submarine Near-surface Depth Controller,' Proceedings of the 5th World Congress on Intelligent Control and Automation, pp. 4530-4533
  5. Rhee, K.P., 2007, Development of the Periscope Depth Keeping System for a Submarine, Korea Navy Warfare Development Group Report
  6. Richards, R.J. and Stoten, D.P., 1982, 'Depth Control of a Submersible Vehicle,' International Shipbuilding Progress, Vol. 28, pp. 30-39
  7. Seol, D.M., Rhee, K.P. and Yeo, D.J., 2005, 'An Experimental Study of the Submerged Depth Effect on the Manoeuvrability in a Horizontal Plane of an Underwater Vehicle,' Journal of the Society of Naval Architects of Korea, Vol. 42, No. 6, pp. 551-558 https://doi.org/10.3744/SNAK.2005.42.6.551
  8. Wilson, B.W., Chakrabarti, S.K. and Snider, R.H., 1974, 'Spectrum Analysis of Ocean Wave Records,' Proceedings of the International Symposium on 'Ocean Wave Measurement and Analysis', Vol. 1, pp. 87-106
  9. Yoon, B.S. and Trung, V.D., 2008, 'Prediction of Free Surface Suction Force Acting on a Submerged Body,' Proceedings of the Annual Autumn Meeting of the SNAK, pp. 205-208

피인용 문헌

  1. An LQR Controller for Autonomous Underwater Vehicle vol.20, pp.2, 2014, https://doi.org/10.5302/J.ICROS.2014.13.9005
  2. Depth Controller Design for Submerged Body Moving near Free Surface Based on Adaptive Control vol.29, pp.3, 2015, https://doi.org/10.5574/KSOE.2015.29.3.270