이심이 AUV의 시뮬레이터와 선단제어 시뮬레이션

Abstract

A numerical and graphic simulator for ISiMI AUV was developed. The simulator is based on the 6-DOF nonlinear dynamic equations of motion of ISiMI AUV, and simulates the dynamic responses of ISiMI by solving the equations of motion with respect to the control inputs and the effects of external forces such as sea current. The numerical simulator is implemented by MatLab Simulink and the graphic simulator is implemented by Visual C++. Since all of the blocks of simulator constitute a library, the ISiMI simulator is easily extended to multiple ISiMI AUV simulator. In this paper, the ISiMI simulator and its extension to the fleet control simulator are described and the control results of ISiMI fleet are discussed.