근해 조사용 무인잠수정의 개발

Abstract

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed the vehicle called KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50m of the sea surface.

We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree of freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of the master DSP, DSP for the motor control and various sensors. We composed the PID control algorithm and a network for controlling motors using the CAN communication.

The performance of the KMU-ROV, we was shown by testing the developed control algorithm and control system under the water.