수중함 자유항주모형 개발 및 기본 성능 분석
Submarine Free Running Model Development and Basic Performance Analysis
1
조회
0
다운로드
2
인용
0
참고문헌
키워드
초록
This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.
Abstract
This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.
참고문헌 (26)
- Yong Jae Cho, "Maneuvering simulation of an X-plane submarine using computational fluid dynamics", International Journal of Naval Architecture and Ocean Engineering, 12, pp.843~855 (2020), 대한조선학회[DOI]
- Dubbioso, G., "CFD analysis of turning abilities of a submarine model", Ocean Engineering, 129, pp.459~479 (2017)
- DTNSRDC Revised Standard Submarine Equation of Motion, "Feldman, J.", David W. Taylor Naval Ship R&D Center, ~, pp.Report No DTNSRDC SPD-0393-09 (1979)
- Straightline and rotating arm captivemodel experiments to investigate the stability and control characteristics of submarine and other submerged vehicles, "Feldman, J.", David W. Taylor Naval Ship R&D Center, ~, pp.Report No DTRC (1987), SHD-0393-20
- Fossen, T. I., "Handbook of marine craft hydrodynamics and motion control" (2011), John Wiley & Sons Ltd
- Resistance experiments on a systematic series of streamlined bodies of revolution for application to the design of high-speed submarines, "Gertler, M.", David Taylor Model Basin, ~, pp.Report C-297 (1950)
- Standard Equations of Motion for Submarine Simulation, "Gertler, M.", Naval Ship Research and Development Center, ~, pp.Report No 2510 (1967)
- Karmozdi, A., "INS-DVL Navigation Improvement Using Rotational Motion Dynamic Model of AUV", IEEE Sensors Journal, 20(23), pp.14329~14336 (2020)
- 김동진, "수중운동체의 강제동요시험 및 포텐셜 계산에 의한 부가질량 추정", 대한조선학회 논문집, 59(4), pp.214~224 (2022), 대한조선학회[DOI]
- 김연규, "몰수체의 CPMC 구속모형시험", 대한조선학회 논문집, 49(4), pp.296~303 (2012), 대한조선학회[DOI]
- Kimber, N., "Submarine manoeuvring: correlating simulation with model tests and full scale trials", The Royal Institution of Naval Architects Warship 2011 (2011), Naval Submarines and UUVs, Bath, The United Kingdom
- Kimber, N., "Advances in experimental techniques for understanding the manoeuvring performance of submarines", The Royal Institution of Naval Architects Warship 2008 (2008), Naval Submarines 9, Glasgow, The United Kingdom
- 권창섭, "자유수면 근처에서 직진하는 BB2 잠수함의 심도별 유체력과 중립운항에 대한 구속모형시험 연구", 대한조선학회 논문집, 59(5), pp.288~295 (2022), 대한조선학회[DOI]
- Lamont, P. J., "Pressures around an inclined ogive cylinder with laminar, Transitional, or Turbulent Separation", AIAA Journal, 20, pp.1492~1499 (1982)
- 이주호, "해양공학수조 환경을 고려한 수중함 자유항주모형의 수중 복합항법 기반 경로점 추종 및 고장 허용 제어기 개발", 제어.로봇.시스템학회 논문지, 28(5), pp.459~467 (2022), 제어·로봇·시스템학회[DOI]
- Overpelt, B., "Free running manoeuvring model tests on a modern generic SSK class submarine(BB2)", Pacific International Maritime Conference (2015)
- 박종열, "자항상태 VPMM 시험을 통한 무인잠수정 조종성능 추정에 관한 연구", 대한조선학회 논문집, 57(5), pp.287~296 (2020), 대한조선학회[DOI]
- 박용곤종, "무인자율수중운동체의 보정항법을 위한 축소된 오차 모델", 제어.로봇.시스템학회 논문지, 20(5), pp.584~591 (2014), 제어·로봇·시스템학회[DOI]
- Pfitsch, D., "Development and deployment of autonomous scale submarine models for hydrodynamic testing of U.S. Navy Submarine Maneuvering Characteristics", MTS, 2016, ~
- Renilson, M, "Submarine hydrodynamics" (2015), Springer
- Rhee, K. P., "An experimental study on hydrodynamic coefficients of submerged body using planar motion mechanism and coning motion device", International Workshop on Ship Maneuverability, pp.1~20 (2000)
- Schoenherr, K. E., "Resistance of flat surfaces moving through a fluid", SNAME Transactions, 40 (1932)
- Shen, Y.T., "An experimental method to satisfy dynamic similarity requirements for model submarine maneuvers", Journal of Ship Research, 54(3), pp.149~160 (2010)
- 성영재, "가상 구속모형시험을 이용한 선박 조종성능 평가", 대한조선학회 논문집, 52(5), pp.407~417 (2015), 대한조선학회
- Thune, S., "Simulation of submarine manoeuvring" (2015), Royal Institute of Technology
- Toxopeus, S., "Collaborative CFD exercise for a submarine in a steady turn", 31th International Conference on Offshore Mechanics and Arctic Engineering (2012)