• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.25-32
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• 1994

A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called the PDA/FLC controller. And to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control system is suitable one to maintain the desirable depth of underwater vehicles with deadzone.

• Journal of Ocean Engineering and Technology
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• v.31 no.1
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• pp.8-13
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• 2017

Cavitation is used in various fields. This study examined the drag reduction of an underwater vehicle using cavitation. In this study, the natural partial cavitation analysis results were verified using CFD code with the Navier-Stokes equation based on a mixture model. The momentum and continuity equations in the mixture phase were separately solved in the liquid and vapor phases. The solver employs an implicit preconditioning algorithm in curvilinear coordinates. The results of a computational analysis showed good agreement with the experiment. A computational analysis was also performed on the supercavity. The study investigated the cavity characteristics and drag of an underwater vehicle and studied the speed required to achieve a supercavity. Finally, a 1DOF analysis was carried out to investigate the thrust system for a supercavity. As a result, one of the methods for determining a suitable thrust system for a supercavitating underwater vehicle was presented.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.550-555
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• 2011

The objective of this study is to investigate flow characteristics of a underwater vehicle by installing pins, using CFD method with a commercial code FLUENT version 6.3.26. To verify the reliability of the computation, the drag is compared the CFD with the experimental test. The drag is increased about 15% by installing 4 pins. At the stern of the body, the turbulent flow is generated by installing pins. Also, the results showed that the drag increase in the stern of the body, not in the pins.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.3 s.18
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• pp.69-76
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• 2004

In this paper, an efficient inverse design method for nose shape of submerged body based on the MGM(Modified Garabedian-McFadden) design method has been developed. The MGM design method is a residual-correction technique, in which the residuals are differences between the desired and the computed pressure distributions. 3-D incompressible Wavier-Stokes equation was adopted for obtaining the surface pressure distribution and combined with the MGM design method to perform the inverse design of nose shape of submerged body. The design method was verified by applying to several airfoil shapes. Improved design shapes could be obtained when the method was applied to nose shapes of submerged body.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.24-34
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• 1996

In ordaer to hold an underwater vehicle at a certain depth, buoyancy that acts on the underwater vehicle can be modulated. In this research, buoyancy that could control depth of underwater vehicle is generated by a buoyancy bag. Solenoid valves are operated by pulse with modulation(PWM) method. State equation, in consideration of the volume of buoyancy bag, pressure inside bag, and dynamic of the underwater vehicle, is derived. This system is very unstable, inculdes modelling error and nonlinearity. In depth control system, maintanance of performance is required., anainst vatiation of systerm parameter and operating depth, and designed. Through the computer simulation, performance is comparerd for each controllers.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.166-175
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• 1999

This paper describes a design and performance evaluation of robust controller which overrides unstable motion and pulls out quickly after water entry of underwater vehicle dropped from aircraft or surface ship. We use 6-DOF equation for model of motions and assume parameter uncertainty to reflect the difference of real motion from modelled motion equation. we represent a nonlinear system with uncertainty as Takagi and Sugeno's(T-S) fuzzy models and design controller stabilizing them. The fuzzy controller utilizes the concept of so-called parallel distributed compensation (PDC). Finally, we confirm stability and performance of the controller through computer simulation and hardware in the loop simulation (HILS).

• Journal of the Society of Naval Architects of Korea
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• v.43 no.2 s.146
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• pp.156-163
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• 2006

The accuracy of estimates of hydrodynamic coefficients can be increased by using sensitivity-maximizing inputs. In this study, sensitivity-maximizing actuator commands of a submersible, which are sequences of bang-bang type commands, were obtained using Genetic Algorithm (GA) optimization technique. By comparing the total sensitivity values, deduced actuator inputs were found to be superior to the other sea trials. Based on the sensitivity distribution of conventional sea trials and sensitivity distribution results through deduced input scenario a review of submersibles' manoeuvring equations of motion was conducted .

• Journal of the Society of Naval Architects of Korea
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• v.42 no.5 s.143
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• pp.458-465
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• 2005

Sensitivity Analysis(SA) is used to predict how the model response varies according to changes in the model parameters. With SA, confidences in models which are developed to approximate certain processes and their predictions can be increased. The influences of hydrodynamic coefficients on the prediction of manoeuvrability are examined by SA of direct method. The equations of motion used are the standard equations of motion for submarine(Gertler 1967), and submerged bodies with three different appendages are considered. Through numerical simulations of three kinds of sea trials, the sensitivities of motions to hydrodynamic coefficients are found. Changes of sensitivities during trials are found to be highly dependent on the actuator scenarios and geometry of submerged body.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.118-127
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• 1993

A nonlinear control design method called the QJQG/LTR method is presented for the depth control of underwater vehicles with the deadzone of the flow control valve. And, it is shown how the design plant model can be formulated in the QLQG/LTR depth control system design for underwater vehicles which have the triple integrator. In order to show the effectiveness of this control system, the linear LQG/LTR control system neglected the deadzone effect and the nonlinear QLQG/LTR control system considered it are compared. It is found that the QLQG/LTR control system is relatively insensitive to the input magnitude, even if there exists a hard nonlinearity in the plant.

• Journal of Navigation and Port Research
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• v.36 no.5
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• pp.379-385
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• 2012

In this paper, the stability and stabilization problems for marine vessels including surface and underwater vehicles are described. In the marine vessels, there are many and strong nonlinear parameters. These give hard design process and difficulties to us. In this article, at first we make a descriptor system representation as a controlled system to preserve the physical parameters of the system as it is. And we propose a new stability and stabilizability conditions based on the quadratic stabilization approach which gives a solution for the unreasonable problems produced by added mass. That is, the proposed conditions are not interfered with the nonsymmetric matrix constraint. And the stability condition is given by an matrix inequality such that it makes us to obtain a solution easily for something.