해상시험 결과를 이용한 RIB의 4자유도 동력학 식별 (I) - 해상시험, 저항추진 모델 -

Abstract

RIB(Rigid Inflatable Boat) is widely used for coastal transportation in the commercial use and for ISR(Intelligence, Surveillance, Reconnaissance) in the military use. Since RIB is around 10 meters in length and over 30 knots in speed, its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ships case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIBs motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitskys formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.its motion characteristics in waves is quite different from a large scale ship. When it turns, large roll occurs and heeling direction is opposite to the large ships case. Currently, many countries are developing USV(Unmanned Surface Vehicle) of which type is RIB. In order to develop high performance autopilot and way point controller, it is very important to identify RIBs motion characteristics. In this paper, sea trial test results of a 7-meter RIB such as speed, turning, zig-zag, and way point control tests were represented and its resistance and propulsion model was identified by using sea trial data and Savitskys formula. In addition, the state space model which will be used in the identification of the four-degree-of-freedom dynamics in the next step was formulated and the identification procedure was proposed.