X타 수중운동체의 자유항주 조종시험을 위한 유도제어시스템 개발

Abstract

This study focuses on the development and verification of guidance and control system for an X-rudder submersible vehicle. The primary objective is to achieve high precision and consistency in autonomous maneuvering test results by precisely controlling the state of the submersible vehicle. To develop this system, the simulations under a variety of conditions were conducted by the maneuvering simulation program before the actual maneuvering test. The system is designed to process inputs like command depth, pitch angle, heading angle, control target, and strategy, yielding X-rudder angle as the output. The performance of this guidance and control system was compared and validated under the various conditions through submersible vehicle maneuvering simulations.