Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Implementation of Heading Angle and Depth Keeping Control of ROV with Multiple Thrusters by Thrust Allocation

다수의 추진기를 지닌 ROV의 추력배분을 통한 정지 상태에서의 선수각 및 수심 제어 구현

  • Received : 2017.08.07
  • Accepted : 2018.02.14
  • Published : 2018.02.28
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Abstract

This study deals with the heading angle and depth keeping control technique for an ROV with multiple horizontal and vertical thrusters by thrust allocation. The light work class ROV URI-L, which is under development at KRISO, is a redundant actuating system with multiple thrusters that are larger than the ROV's degree of freedom. In the redundant actuating system, there are several solutions for a specific ROV motion to be performed. Therefore, a thrust allocation algorithm that considers the entire propulsion system should be regarded as important. First, this paper describes the propulsion system of the ROV and introduces the thrust allocation method of each motion controller. In addition, the performance of the controller is examined using a heading angle and depth keeping control test in a stationary state.

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References

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