PID 제어기를 이용한 호버링 AUV의 구현과 자세 제어
Implementation of Hovering AUV and Its Attitude Control Using PID Controller
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참고문헌
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초록
An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV's movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.
Abstract
An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUV's movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.
참고문헌 (7)
- 배설봉, "PD 제어기를 이용한 호버링 AUV의 깊이 제어", 한국정보기술학회논문지, 12(06), pp.1~7 (2014), 한국정보기술학회[DOI]
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- 전봉환, "항주형 AUV(자율 수중로봇)의 기술동향", 한국정밀공학회지, 26(5), pp.14~22 (2009), 한국정밀공학회
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- 이필엽, "수중정찰용 자율무인잠수정의 운동 모델링 및 시험을 통한 계수 조정", 한국해양공학회지, 29(6), pp.488~498 (2015), 한국해양공학회
- 신동협, "퍼지 PD 제어기를 사용한 자율 무인 잠수정의 경유점 추적", 한국정보기술학회논문지, 11(5), pp.1~7 (2013), 한국정보기술학회