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수면 근처에서 운동하는 잠수체의 수직면 운동 모델링 및 심도 제어On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface
- Other Titles
- On the Vertical Plane Dynamics Modeling and Depth Control of a Submerged Body Moving beneath Free Surface
- Issue Date
- 2006
- Publisher
- 대한조선학회
- Keywords
- 잠수체; 자유표면효과; 잠망경심도; 파강제력과 강제모멘트; 제어기; Submerged body; Free surface effect; Periscope depth; Wave force and moment; Controller
- Citation
- 대한조선학회 논문집, v.43, no.6, pp 647 - 655
- Pages
- 9
- Journal Title
- 대한조선학회 논문집
- Volume
- 43
- Number
- 6
- Start Page
- 647
- End Page
- 655
- ISSN
- 1225-1143
- Abstract
- In this paper, submerged body dynamicsmodel in vertical plane which can include the effect of free surface and wave is suggested to simulate the motions of submerged body moving beneath free surface precisely. A controller is designed, which can maintain a constant depth below the mean sea level and minimize the pitch angle. Numerical simulations show that the designed controller is effective on depth keeping and minimizing pitch angle in regular waves and irregular waves.
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