• International Journal of Ocean System Engineering
• /
• v.3 no.1
• /
• pp.16-21
• /
• 2013

This paper presents a design of fuzzy PD depth controller for the autonomous underwater vehicle entitled KAUV-1. The vehicle is shaped like a torpedo with light weight and small size and used for marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at aft end with yawing actuation acting as a rudder. For depth control, the KAUV-1 uses a mass shifter mechanism to change its center of gravity, consequently, can control pitch angle and depth of the vehicle. A design of classical PD depth controller for the KAUV-1 was presented and analyzed. However, it has inherent drawback of gains, which is their values are fixed. Meanwhile, in different operation modes, vehicle dynamics might have different effects on the behavior of the vehicle. In this reason, control gains need to be appropriately changed according to vehicle operating states for better performance. This paper presents a self-tuning gain for depth controller using the fuzzy logic method which is based on the classical PD controller. The self-tuning gains are outputs of fuzzy logic blocks. The performance of the self-tuning gain controller is simulated using Matlab/Simulink and is compared with that of the classical PD controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.90.5-90
• /
• 2002

In this research, we are trying to develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and plank. So we will make a suitable dynamic model and mechanism to control the velocity feedback. We will suggest stick-slip motion model which can predict the stability behavior of this system. The control system has a feedback loop, in which the following operations are included. A kind of sensor can get the velocity of the mass to adhesive veneer. The output of result signal should be passed to a filter, then to a phase shifter, which applies an adjustable phase-shift, to a variable-gain amplifier. A shaker will be attached to the mass, which ex...

• Journal of Ocean Engineering and Technology
• /
• v.28 no.5
• /
• pp.466-473
• /
• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.

• Journal of Advanced Navigation Technology
• /
• v.21 no.1
• /
• pp.21-29
• /
• 2017

In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.

• Proceedings of the KSRS Conference
• /
• 2002.10a
• /
• pp.587-592
• /
• 2002

A new digital correlator fur an airborne synthetic aperture radiometer was designed in order to replace the conventional analog correlator unit which will become very complicated while the number of channels is increasing. The digital correlator uses digital IQ demodulator instead of the intermediate frequency (IF) phase shifter to make the correlation processing performed digitally at base band instead of analogly at IF. This technique has been applied to the digital receiver in softradio. The down-converted IF signals from each pair of receiver channels become low rate base-band digital signals after under-sampled, Digitally Down-Converted (DDC), decimated and filtered by FIR filters. The digital signals are further processed by two digital multipliers (complex correlation), the products are integrated by the integrators and finally the outputs from the integrators compose of the real part and the imaginary part of a sample of the visibility function. This design is tested by comparing the results from digital correlators and that from analog correlators. They are agreed with each other very well. Due to the fact that the digital correlators are realized with the help of Analog-Digital Converter (ADC) chips and the FPGA technology, the realized volume, mass, power consumption and complexity turned out to be greatly reduced compared with that of the analog correlators. Simulations show that the resolution of ADC has an influence on the synthesized antenna patterns, but this can be neglected if more than 2bit is used.

• Journal of Advanced Navigation Technology
• /
• v.21 no.6
• /
• pp.537-543
• /
• 2017

Underwater glider is the long-term operating underwater robot that was developed with a purpose of continuous oceanographic observations and explorations. Torpedo-type underwater glider is not efficient from an aspect of maneuverability, because it uses a single buoyancy engine and motion controller for obtaining propulsive forces and moments. This paper introduces a ray-type underwater glider(RUG) with dual buoyancy engine, which improves the control performance of buoyancy and motion compared with torpedo-type underwater glider. Carrying out Computational Fluid Dynamics (CFD) analysis as static pitch drift test, the performance of fluid resistance for gliding motion was identified. Based on the calculated hydrodynamic coefficients, the dynamic simulation compared and analyzed the motion performance of torpedo-type and ray-type while controlling same volume of buoyancy engine. Small-sized model of RUG was developed to perform fundamental performance tests.