심해 무인잠수정의 운동 제어 시스템

Abstract

This paper introduces a general overview of the 6000m class deep-sea ROV, Hemire and Henuvy. and then describes its motion control system. It is developed by Korea Ocean Research & Development Institute(KORDI) for 6 years since 2001, sponsored by the Ministry of Maritime Affairs and Fisheries (MOMAF). Hemire is remotely operated by a fiber optic telemetry, where 6 thrusters are controlled by operator in manual mode and by auto depth control and auto heading control in auto mode. In this paper, operational mechanism of manual and automatic mode with some convenient functions for operator is described. Finally, results of sea trial conducted at the Philippine sea where a depth is 5,770m are shown.