미속 수중함의 자동심도 제어장치 설계 연구

Design of auto-depth control system for low speed submersible vehicle

This paper describes the auto-depth control system with depth control tank for low speed submersible vehicle that can be used for both near surface and deeply submerged keeping operations. The PDA control algorithm is used to design controller and adaptive notch filter is designed to eliminate the dominant frequency of seaway. The computer simulations demonstrate the excellent depth keeping performance of the controller under seaway effects.