제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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- Pages.516-521
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- 1993
수중운동체의 심도제어를 위한 제어기 설계
Controller design for depth control of vehicle under seawater
초록
In order to hold a underwater vehicle at a depth, we can modulate buoyancy that acts on the underwater vehicle. In this research, by using a ballon, we was able to generate buoyancy that could control depth in which vehicle was operate. And in order to control flux of air that was flowed in balloon, we used solenoid valve, relief valve and so on. We derived differential equations of volume of balloon, pressure of inside of balloon, dynamic of underwater vehicle, and air flux for the simulation and linearized these differential equation. So we designed LQG/LTR controller, and applied the controller to nonlinear system. Through the simulation, we compares the nonlinear system with the linear system and investigated the operation of solenoid valve.
키워드