하이브리드 수중 글라이더의 제어 연구

Abstract

In this paper, the control of the Hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability was studied. The whole control hardware system of the HUG were constructed including a control algorithm. The whole control hardware system is composed of a the control system, the autonomous control system, and the actuator control system. The control system was designed for the smooth and precise path tracking of the HUG. The autonomous control system was developed for autonomous control of the HUG using the Linux operating system which is based on single board computer Edison. In addition, the actuator control system was designed to control the propeller, thrusters, buoyancy engine, and the rudder using the STM32F407V microcontroller. Also, PID control algorithm was designed for the actuator control system, and the extended Kalman filter was designed for the navigation system. In order to verify the performance of the developed control system, the navigation system, and the developed algorithm, a number of various experiments were performed and good performance of the developed system was shown through results.