무인수중운동체의 롤 자세를 고려한 구동기 할당 기법에 관한 연구

Abstract

Autonomous Underwater Vehicles are actively used not only in marine exploration but also in military fields such as ISR (Intelligence, Surveillance, and Reconnaissance). In particular, AUV for military are used as a high-speed launch method from launch tubes. However, This method causes attitude instability of AUV in the early stages of launch. In addition, In the single propeller AUV, torque in the opposite direction to the propeller rotation acts on the body, amplifying attitude instability in the propeller operation start or propeller rotation change section. Attitude instability has a fatal effect on the heading and depth control of AUV configured in the cross-plane structure actuator of the stern. In this study, we propose a actuator allocation method considering roll attitude. To verify the proposed method, Nonlinear unmanned underwater vehicle motion model was constructed and simulated. As a result of the simulation, when the proposed method is applied in the section where the Torque Roll, the better attitude stability was derived. In addition, when controlling the depth and heading of the AUV in an unstable roll attitude caused by high-speed launch, The proposed method followed the commands more reliably.