The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of a Low-cost Unmanned Underwater Vehicle and Performance Verification

저가 수중 무인 이동체 개발 및 운동성능 검증

  • Hwang, Dongwook (Seoul National University of Science and Technology) ;
  • Jang, Mingyu (Seoul National University of Science and Technology) ;
  • Kim, Jinhyun (Mechanical Engineering, Seoul National University of Science and Technology)
  • Received : 2018.04.09
  • Accepted : 2018.05.15
  • Published : 2018.05.31
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Abstract

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

Keywords

References

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