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하이브리드 수중 글라이더의 제어 연구
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 지대형 | - |
| dc.date.accessioned | 2017-02-22T07:14:48Z | - |
| dc.date.available | 2017-02-22T07:14:48Z | - |
| dc.date.issued | 2016 | - |
| dc.date.submitted | 57097-01-20 | - |
| dc.identifier.uri | http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002236395 | ko_KR |
| dc.identifier.uri | http://repository.kmou.ac.kr/handle/2014.oak/10509 | - |
| dc.description.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. | - |
| dc.description.tableofcontents | List of Tables iv List of Figures vi Abstract viii 1. 서 론 1.1 연구배경 1 1.2 하이브리드 수중 글라이더 동작 개념 4 1.3 연구목적 6 2. 하이브리드 수중 글라이더의 기구부 2.1 선체 구조 7 2.2 기구부 구조 8 2.2.1 부력엔진 9 2.2.2 자세제어기 11 2.2.3 추진기 및 러더 13 3. 제어시스템 설계 3.1 제어시스템 구성 15 3.2 자율제어시스템 16 3.3 액추에이터 제어시스템 17 3.3.1 부력엔진 제어시스템 20 3.3.2 자세제어기 제어시스템 22 3.3.3 추진기 및 러더 제어시스템 24 3.4 센서 시스템 26 3.4.1 DVL 27 3.4.2 AHRS 28 3.4.3 수심 측정기 29 3.4.4 측심기 30 3.4.5 GPS 31 3.4.6 누수 센서 32 3.5 배터리 및 전원 회로 33 4. 제어 알고리즘 연구 4.1 동역학 모델링 37 4.2 제어 알고리즘 42 4.3 항법 알고리즘 43 5. 성능 시험 5.1 DVL 성능 시험 46 5.2 GPS 성능 시험 48 5.3 항법 알고리즘 성능 시험 49 5.4 자세제어기 및 부력엔진 성능 시험 50 5.5 자세 제어 시험 51 6. 결론 6.1 결론 및 향후과제 54 감사의 글 55 참고문헌 56 부록 58 | - |
| dc.language | kor | - |
| dc.publisher | 한국해양대학교 대학원 | - |
| dc.title | 하이브리드 수중 글라이더의 제어 연구 | - |
| dc.type | Thesis | - |
| dc.date.awarded | 2016-02 | - |
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