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http://dx.doi.org/10.12673/jant.2017.21.1.21

A Design Control System of Hybrid Underwater Glider and Performance Test  

Ji, Dae-hyeong (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Choi, Hyeung-sik (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Kim, Joon-young (Division of Mechanical Engineering, Korea Maritime and Ocean University)
Jung, Dong-wook (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Jeong, Seong-hoon (Research Institute of Industrial Technology, Korea Maritime and Ocean University)
Publication Information
Journal of Advanced Navigation Technology / v.21, no.1, 2017 , pp. 21-29 More about this Journal
Abstract
In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.
Keywords
Hybrid underwater glider; Dynamic modeling; Attitude controller; Buoyancy engine; Thruster;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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