유전 알고리즘을 이용한 수중운동체 조종성미계수의 민감도 최대화 입력 설계

Abstract

The accuracy of estimates of hydrodynamic coefficients can be increased by using sensitivity-maximizing inputs. In this study, sensitivity-maximizing actuator commands of a submersible, which are sequences of bang-bang type commands, were obtained using Genetic Algorithm (GA)optimization technique. By comparing the total sensitivity values, deduced actuator inputs were found to be superior to the other sea trials. Based on the sensitivity distribution of conventional sea trials and sensitivity distribution results through deduced input scenario, a review of submersibles' manoeuvring equations of motion was conducted.