무인수중글라이더의 효율 개선을 위한 제어

Abstract

Unmanned underwater gliders are being applied for various purposes such as marine exploration and development, and military purposes. In addition, it is expected to be used in various fields due to the possibility of long-term and long-distance unmanned operation. In this paper, The unmanned underwater glider was designed for high-depth operation plan and adopted a bladder-type buoyancy controller suitable for high-depth operation, and the motion controller controls the pitch angle by moving the internal moving mass battery. To improve the energy efficiency of the unmanned underwater glider, which is the goal of this paper, a Layered PID controller that performs control by section was designed. In this paper, a simulator including 6-DOF motion equations and fluid force coefficients of an unmanned underwater glider is constructed using Matlab & Simulink. PID controller, sliding mode controller and layered PID controller were applied to the simulator to compare exercise performance and energy efficiency. As a result, the Layered PID controller showed improved control performance compared to other controllers and improved energy efficiency.