Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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UUV Platform Optimal Design for Overcoming Strong Current

  • Kim, Min-Gyu (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Kang, Hyungjoo (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Lee, Mun-Jik (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Cho, Gun Rae (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Li, Ji-Hong (Intelligent Robotics R&D Division, Korea Institute of Robotics & Technology Convergence) ;
  • Kim, Cheol (Department of Mechanical Engineering, Kyungpook National University)
  • Received : 2021.09.03
  • Accepted : 2021.11.11
  • Published : 2021.12.31
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Abstract

This paper proposes an optimal design method for an unmanned underwater vehicle (UUV) platform to overcome strong current. First, to minimize the hydrodynamic drag components in water, the vehicle is designed to have a streamlined disc shape, which help maintaining horizontal motion (zero roll and pitch angles posture) while overcoming external current. To this end, four vertical thrusters are symmetrically mounted outside of the platform to stabilize the vehicle's horizontal motion. In the horizontal plane, four horizontal thrusters are symmetrically mounted outside of the disc, and each of them has the same forward and reverse thrust performances. With these four thrusters, a specific thrust vector control (TVC) method is proposed, and for external current in any direction, four horizontal thrusters are controlled to generate a vectored thrust force to encounter the current while minimizing the vehicle's rotation and maintaining its heading. However, for the numerical simulations, the vehicle's hydrodynamic coefficients related to the horizontal plane are derived based on both theoretical and empirically derived formulas. In addition to the simulation, experimental studies in both the water tank and circulating water channel are performed to verify the vehicle's various final performances, including its ability to overcome strong current.

Keywords

Acknowledgement

This research was supported by the project titled "Development of Underwater Robot Platform and its Control Technology to Overcome up to 3.5 knots of Sea Current," which was funded by the Ministry of Oceans and Fisheries (MOF) and the Korea Institute of Marine Science and Technology promotion (KIMST), Korea (20160148). In addition, it was partially supported by the project No. 17-CM-RB-16 titled "Development of Multi-sensor Fusion based AUV's Terminal Guidance and Docking Technology," which was funded by the Agency for Defense Development (ADD) in South Korea.

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