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

  • 제57권5호
  • /
  • Pages.287-296
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  • 2020
  • /
  • 1225-1143(pISSN)
  • /
  • 2287-7355(eISSN)
대한조선학회 (The Society of Naval Architects of Korea)
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자항상태 VPMM 시험을 통한 무인잠수정 조종성능 추정에 관한 연구

Study on the Estimation of Autonomous Underwater Vehicle's Maneuverability Using Vertical Planar Motion Mechanism Test in Self-Propelled Condition

  • 박종열 (서울대학교 조선해양공학과) ;
  • 이신형 (서울대학교 조선해양공학과) ;
  • 이승수 (충북대학교 토목공학부) ;
  • 윤현규 (창원대학교 산업시스템 및 조선해양 융합공학부) ;
  • 서정화 (충남대학교 선박해양공학과) ;
  • 이필엽 (한화시스템 해양연구소) ;
  • 김호성 (한화시스템 해양연구소) ;
  • 이한솔 (한화시스템 해양연구소)
  • Park, Jongyeol (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Rhee, Shin Hyung (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Lee, Sungsu (School of Civil Engineering, Chungbuk National University) ;
  • Yoon, Hyeon Kyu (Department of Industrial Engineering and Naval Architecture, Changwon National University) ;
  • Seo, Jeonghwa (Department of Naval Architecture and Ocean Engineering, Chungnam National University) ;
  • Lee, Phil-Yeob (Naval R&D Center, Hanwha Systems Co., Ltd.) ;
  • Kim, Ho Sung (Naval R&D Center, Hanwha Systems Co., Ltd.) ;
  • Lee, Hansol (Naval R&D Center, Hanwha Systems Co., Ltd.)
  • 투고 : 2019.12.24
  • 심사 : 2020.08.04
  • 발행 : 2020.10.20
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초록

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

키워드

참고문헌

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