Manta형 무인잠수정의 6자유도 운동 특성에 관한 연구

Abstract

Intial Manta-type Unmanned Undersea Vehicle(UUV) turned out to have the tendency of dynamic instability. This paper deals with the motion characteristics of the new UUV. Based on the new type UUV, the author proposed the mathematical model of ship dynamics with 6 degrees of freedom for simulation and proposed prediction method of linear hydrodynamic derivatives.

Furthermore, the author discusses sensitivity analysis to know the motion characteristics of UUV. For sensitivity analysis, we carried out turning simulation and zig-zag simulation in horizontal and vertical planes. Based on the results, we know the sensitivity of hydrodynamic derivatives on motion characteristics of UUV.