Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Depth Controller Design for Submerged Body Moving near Free Surface Based on Adaptive Control

적응제어기법을 이용한 수면근처에서 운항하는 몰수체의 심도제어기 설계

  • Park, Jong-Yong (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Kim, Nakwan (Department of Naval Architecture and Ocean Engineering, Seoul National University) ;
  • Yoon, Hyeon Kyu (Department of Naval Architecture and Marine Engineering, Changwon National University) ;
  • Kim, Su Yong (Agency for Defense Development) ;
  • Cho, Hyeonjin (Agency for Defense Development)
  • Received : 2015.01.09
  • Accepted : 2015.06.22
  • Published : 2015.06.30
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Abstract

A submerged body moving near the free surface needs to maintain its attitude and position to accomplish missions. It is necessary to validate the performance of a designed controller before a sea trial. The hydrodynamic coefficients of maneuvering are generally obtained by experiments or computational fluid dynamics, but these coefficients have uncertainty. Environmental loads such as the wave exciting force and suction force act on the submerged body when it moves near the free surface. Thus, a controller for the submerged body should be robust to parameter uncertainty and environmental loads. In this paper, the six-degree-of-freedom equations of motions for the submerged body are constructed. The suction force is calculated using the double Rankine body method. An adaptive control method based on an artificial neural network and proportional-integral-derivative control are used for the depth controller. Simulations are performed under various depth and speed conditions, and the results show the effectiveness of the designed controller.

Keywords

References

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