Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Design of Guidance and Control System for X-plane Submarine

X타 수중함의 유도·제어시스템 설계

  • Park, Jong-Yong (Department of Naval Architecture and Marine System Engineering, Pukyong National University) ;
  • You, Youngjun (School of Naval Architecture and Ocean Engineering, University of Ulsan) ;
  • Jeon, Myungjun (Department of Naval Architecture and Marine Engineering, Changwon National University) ;
  • Yoon, Hyeon-Kyu (Department of Naval Architecture and Marine Engineering, Changwon National University)
  • 박종용 (부경대학교 에너지수송시스템공학부 조선해양시스템공학전공) ;
  • 유영준 (울산대학교 조선해양공학부) ;
  • 전명준 (창원대학교 조선해양공학과) ;
  • 윤현규 (창원대학교 조선해양공학과)
  • Received : 2022.08.23
  • Accepted : 2022.09.13
  • Published : 2022.10.20
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Abstract

Most submarines use the cross-plane, which is convenient and inexpensive, but the number of submarines equipped with an X-plane is increasing recently. This study focuses on designing the control system of the X-plane submarine with various control methods and analyzing the effect of each controller. First, a maneuvering simulation environment for a subjected submarine is established. The dynamics and the operating range of control surfaces are considered. Second, a depth and heading control system of the submarine, which can be divided into three parts, is designed: guidance, controller, and control allocation. The guidance system generates a smooth desired depth and heading. The controller is designed using Proportional-Integral-Differential (PID), Linear Quadratic Regulator (LQR), and H-infinity (H∞) control methods. A linear control allocation method is used to distribute control moment calculated by the controller to the control surfaces. Finally, the designed control system is applied to a subjected X-plane submarine, and a depth and heading control simulations are performed. Each control method is compared and analyzed under various simulation conditions.

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Acknowledgement

이 논문은 부경대학교 자율창의학술연구비(2020년)에 의하여 연구되었음