Hovering-type AUV의 경로추종을 위한 제어기 설계 및 실해역 실험에 관한 연구

Abstract

AUV replacing humans and performing works in deep sea where humans are hard to work is actively developed. AUVs are various on purpose, but among them, Hovering-type AUV can perform works by keeping its position and posture under water. Studies about AUV are being performed domestically, but comparing to other counties, technologies fall behind. So it is needed to accept outside technologies that already reached commercialization and to secure technical skills by developing navigation algorithm.

In this thesis, performances of AUV were verified by making Hovering-type AUV test-bed and designing various controllers. Developed AUV can control 4DOF motion, using 2 horizontal thrusters and 2 vertical thrusters. Prior to field test, 6DOF equations of motion is developed, simulation program is constructed by using Matlab/Simulink, and essential motion performance of designed vehicle is verified. Besides, PID controller and Fuzzy PID controller are designed for carrying out their missions, and performance of the controllers is verified by simulation. Tests are performed in the field to verify motion performance of the AUV, and the way-point tracking is performed by PID and Fuzzy PID controller to the vehicle. It results in confirming appropriate control performance under current disturbances. Result graphs of experiments were showed, and by analyzing those, performances of controllers were verified.