해양공학수조 환경을 고려한 수중함 자유항주모형의 수중 복합항법 기반 경로점 추종 및 고장 허용 제어기 개발

Abstract

The Submarine Free Running Model Test (FRMT) refers to a test using a submarine scale model with self-propulsion and remote control capability. The main purpose of the submarine FRMT is to predict the maneuverability of a full-scale vehicle, in addition to the possibility of providing high fidelity data on the maneuvering characteristics in various situations. In case the submarine FRMT was performed below a certain depth, the model would not be capable of receiving GPS or RF signals for remote control. Accordingly, an appropriate operational algorithm is required to autonomously carry out a given task. This paper presents the development results of the underwater integrated navigation and control algorithm for performing the submarine FRMT in an ocean engineering basin. In the ocean engineering basin, it is possible to exclude the influence of disturbance caused by waves and currents. However, it is essential to comprehensively consider collision avoidance and mission control within a limited area of operation. The navigation system is composed of an Inertial Navigation System (INS), a Doppler Velocity Logger (DVL), and a depth sensor. Moreover, for additional calibration, an underwater ultrasonic range sensor and the basin wall position information are utilized. Considering modeling uncertainties and a controller failure situation, a robust controller based on a sliding mode controller and a nonlinear disturbance observer was used. The simulated proposed algorithm was evaluated by analyzing and comparing it with conventional navigation and control methods.