Manta형 무인잠수정의 6자유도 운동 수학모델 및 조종응답 특성
Mathematical Model for Dynamics of Manta-type Unmanned Undersea Vehicle with Six Degrees of Freedom and Characteristics of Manoeuvrability Response
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Abstract
Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle UUV moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.
참고문헌 (10)
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