하이브리드 수중 글라이더의 설계 연구

Abstract

In this paper, the design of hybrid underwater glider(HUG) having the benefits of the Autonomous Underwater Vehicle and Underwater Glider was studied. The HUG was designed to be able to perform exploration in 200m water. In order to minimize the drag force to hull, the fore head shape of the HUG was designed using Myring profile equation. Buoyancy controller and posture controller was located inside the hull. In overall structure of the hull, DVL sensor and check valve were designed to be placed in the front section, and the thruster and rudder was design to be placed in the rear section. It was designed for the pitching motion to be controlled by varying the weight center of the HUG. And a symmetric buoyancy control mechanism was designed for the posture of HUG body. Also pressure-resistant analysis and a buckling analysis for enduring the pressure of the 200m sea depth, and the pressure endurance performance was verified through the test in a pressure test chamber. In addition to this, dynamics of the HUG were studied.