이심이100 AUV의 제어기 설계와 실해역 운동제어 특성

Abstract

This paper presents an analysis of control-response characteristics of ISiMI00 AUV considering with the coupling motion between each degree of freedom. Motions of cruising type AUVs generally are 6 degrees-of-freedom, nonlinear and coupled with each other. The operating point varies when the velocity is changed. It is not easy to understand the motion characteristics quantitatively because there are few researches about experimental analysis of AUV motions. This paper analyzes the control responses of ISiMI100 AUV based on the experimental results. The relationship between vehicle velocity and propeller speed is presented. The roll angle variation with respect to the propeller speed is measured and analyzed. Depth control responses and coupling motions are analyzed in time domain. We also investigate the transient responses of depth controller with fixed gains when the advance speed of vehicle is changed.