조종자 입력패턴을 활용한 RIB형 무인선의 침로제어기 설계
Design of Course Keeping Controller for RIB-type USV Using a Pilot's Steering Pattern
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초록
A new course keeping controller for RIB(Rigid Inflatable Boat)-type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To validate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than 20⁰, which makes it possible that fast course changes without slip motion of USV.
Abstract
A new course keeping controller for RIB(Rigid Inflatable Boat)-type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To validate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than 20⁰, which makes it possible that fast course changes without slip motion of USV.
참고문헌 (5)
- 손남선, "무인수상선을 위한 경유점 추적 제어 알고리즘에 관한 연구", 한국항해항만학회지, 33(1), pp.35~41 (2009), 한국항해항만학회
- Yoon, H.K, "Identification of Four-DOF Dynamics of a RIB using Sea Trial Tests (I) - Sea Trial Test, Resistance and Propulsion Model", Proceedings of the Annual Autumn Meeting, SNAK,, pp.815~822 (2008)
- 윤현규, "RIB형 표적정의 수평면 조종운동 간략모델", 대한조선학회 논문집, 44(6), pp.572~578 (2007), 대한조선학회
- Yun, K.H, "Analysis of Pilot's Steering Pattern of RIB for Developing the Manoeuvring Control System of USV", Proceedings of KAOST, pp.192~ (2009)
- "Unmanned Aerial Vehicles Roadmap", Office of The Secretary of Defense, ~ (2001)