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

The Society of Naval Architects of Korea (대한조선학회)
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Submarine Free Running Model Development and Basic Performance Analysis

수중함 자유항주모형 개발 및 기본 성능 분석

  • Jooho Lee (Development Maritime Technology Research Institute, Agency for Defense) ;
  • Seonhong Kim (Development Maritime Technology Research Institute, Agency for Defense) ;
  • Jihwan Shin (Development Maritime Technology Research Institute, Agency for Defense) ;
  • Jinhyeong Ahn (Development Maritime Technology Research Institute, Agency for Defense)
  • 이주호 (국방과학연구소 해양기술연구원) ;
  • 김선홍 (국방과학연구소 해양기술연구원) ;
  • 신지환 (국방과학연구소 해양기술연구원) ;
  • 안진형 (국방과학연구소 해양기술연구원)
  • Received : 2023.05.11
  • Accepted : 2023.06.15
  • Published : 2023.08.20
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Abstract

This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.

Keywords

Acknowledgement

이 논문은 2020년 정부의 재원으로 수행된 연구 결과임

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