수중 작업을 위한 경작업용 ROV의 운동 제어: 방향각 및 수심 제어

Abstract

This paper addresses the motion control of a LWC(Light-work-class) ROV, and introduces the results of yaw and heave motion control. The propulsion system of the ROV is consisted of four vertical thrusters and six horizontal thrusters. To control the ROV, the desired motion should be properly distributed to each thruster by a thrust distribution method. For the method, TCM(Thruster Configuration Matrix) for describing the layout of the thrusters in the propulsion system has been applied. LWC ROV should keep the consistent motion while working underwater. This paper designs PD controller to control yaw and heave motion, and describes the results of heading and depth control in an ocean engineering basin.