Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Performance Analysis on Depth and Straight Motion Control based on Control Surface Combinations for Supercavitating Underwater Vehicle

초공동 수중운동체의 조종면 조합에 따른 심도 및 직진 제어성능 분석

  • Yu, Beomyeol (Unmanned Aircraft Systems Group, Department of Aerospace Engineering, Chungnam National University) ;
  • Mo, Hyemin (Unmanned Aircraft Systems Group, Department of Aerospace Engineering, Chungnam National University) ;
  • Kim, Seungkeun (Unmanned Aircraft Systems Group, Department of Aerospace Engineering, Chungnam National University) ;
  • Hwang, Jong-Hyon (Maritime R&D Center, LIG Nex1, Co., Ltd.) ;
  • Park, Jeong-Hoon (Mechanical R&D(Maritime), LIG Nex1, Co., Ltd.) ;
  • Jeon, Yun-Ho (Mechanical R&D(Maritime), LIG Nex1, Co., Ltd.)
  • 유범열 (충남대학교 항공우주공학과 무인항공기시스템그룹) ;
  • 모혜민 (충남대학교 항공우주공학과 무인항공기시스템그룹) ;
  • 김승균 (충남대학교 항공우주공학과 무인항공기시스템그룹) ;
  • 황종현 (LIG넥스원(주) 해양2연구소) ;
  • 박정훈 (LIG넥스원(주) C4ISTAR.기계융합연구소) ;
  • 전윤호 (LIG넥스원(주) C4ISTAR.기계융합연구소)
  • Received : 2020.12.15
  • Accepted : 2021.06.04
  • Published : 2021.08.05
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Abstract

This study describes the depth and straight motion control performance depending on control surface combinations of a supercavitating underwater vehicle. When an underwater vehicle experiences supercavitation, friction resistance can be minimized, thus achieving the effect of super-high-speed driving. Six degrees of freedom modeling of the underwater vehicle are performed and the guidance and control loops are designed with not only a cavitator and an elevator, but also a rudder and a differential elevator to improve the stability of the roll and yaw axis. The control performance based on the combination of control surfaces is analyzed by the root-mean-square error for keeping depth and straight motion.

Keywords

Acknowledgement

본 연구는 LIG넥스원에서 수행한 "초공동 수중운동체 직진주행제어를 위한 형상설계 및 성능 분석 기술" 자체 선행연구 과제의 연구결과 중 일부분임을 밝힙니다.

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