수면 근처에서 운동하는 잠수체의 수직면 운동 모델링 및 심도 제어

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.