• International Journal of Ocean System Engineering
• /
• v.1 no.4
• /
• pp.192-197
• /
• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.59 no.2
• /
• pp.145-154
• /
• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.22 no.1
• /
• pp.24-28
• /
• 1986

The maneuverabilities of the M. S. PUSAN 402 are studied, based on maneuvering indices and the data obtained from her Z test. The results obtained are summarized as follows: 1. The maneuvering indices K' and T' of the M. S. PUSAN 402 are 1. 490, 1.030 at 10$^{\circ}$ Z test and 2.644, 1.153 at 20$^{\circ}$ Z test and 3.382. 1. 027 at 30$^{\circ}$ Z test respectively. The above calculated values K', T' showed that her maneuverabilities are more increased when the rudder is used to large angle than to smaIl angle. 2. As her maneuvering indices K' and T' at 10$^{\circ}$ Z test are higher than the standard maneuvering indices of fishing boats, her turning ability was found to be higher but her obeying ability lower. 3. When the M. S. PUSAN 402 took a turn at her 10$^{\circ}$ test, running distance was about 8.4 times her own length and didn't exceed the standard maneuvering distance, 5 to 11 times ship's own length, therefore she was considered to have good maneuverabilities syntheticaIly.

• Journal of Advanced Marine Engineering and Technology
• /
• v.22 no.6
• /
• pp.920-927
• /
• 1998

This paper presents a synthetic control algorithm that generates the rudder command angle to track the optimal route which is composed of straight-lines among way-points with keeping a required error limit. The control algorithm comprises three main lgorithms that is a course-keeping algorithm that eliminates the yaw angle difference between optimal route and current route a track-keeping algorithm that tracks the optimal route among way-points and a turning-control algorithm that includes the generation of optimal turning routes and control method. The effectiveness of the proposed control algorithm is assured through computer simulation.

• Journal of Advanced Research in Ocean Engineering
• /
• v.2 no.4
• /
• pp.192-201
• /
• 2016

This study examined a PD controller and its application to automatic berthing control of an unmanned surface vehicle (USV). First, a nonlinear mathematical model was established for the maneuvering of the USV in the presence of environmental forces. A PD control algorithm was then applied to control the rudder and propeller during an automatic berthing process. The algorithm consisted of two parts, namely the forward velocity control and heading angle control. The control algorithm was designed based on longitudinal and yaw dynamic models of the USV. The desired heading angle was obtained using the "line of sight" method. Finally, computer simulations of automatic USV berthing were performed to verify the proposed controller subjected to the influence of disturbance forces. The results of the simulation revealed a good performance of the developed berthing control system.

• Journal of Hydrospace Technology
• /
• v.1 no.1
• /
• pp.75-88
• /
• 1995

Auto-Pilot System uses heading angle information via the position sensor and the rudder device to control the ship's direction. Most of the control logics are composed of the state estimation and control algorithms assuming that the measurement device and the actuator have no fault except the measurement noise. But such asumptions could bring the danger in real situation. For example, if the heading angle measuring device is out of order the control action based on those false position information could bring serious safety problem. In this study, the control system including improved method for processing the position information is applied to the Auto-Pilot System. To show the difference between general state estimator and F.D.F., BJDFs for the sensor and the actuator failure detection are designed and the performance are tested. And it is shown that bias error in sensor could be detected by state-augmented estimator. So the residual confined in the 2-dimension in the presence of the sensor failure could be unidirectional in output space and bias sensor error is much easier to be detected.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.9
• /
• pp.708-713
• /
• 2013

KARI is developing a solar-electric powered HALE UAV(EAV-3). For demonstrating the technology, EAV-2H, a down-scaled version of EAV-3, is developed and after EAV-2H's initial flight test, the directional stability and control need to be improved. Thus, the vertical tail and rudder of EAV-2H are redesigned with Advanced Aircraft Analysis(AAA). Size of the rudder is increased from mean chord ratio of rudder to vertical tail, $C_r/C_v(%)=30$ to $C_r/C_v(%)=60$ and size of the vertical tail is reduced 15%. As a result, the directional control to side wind($v_1$) is improved to sideslip angle, ${\beta}(deg)=25^{\circ}$ and $v_1(m/sec)=3.54$. Also, variation of airplane side force coefficient with sideslip angle ($C_{y_{\beta}}$) and variation of airplane side force coefficient with dimensionless rate of change of yaw rate ($C_{y_r}$) are reduced 15% and 22%, respectively to minimize the effect of side wind. The empennage design of EAV-2H is verified with flight tests and applied to design of KARI's solar-electric-powered EAV-3.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.3
• /
• pp.214-221
• /
• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• Journal of Navigation and Port Research
• /
• v.42 no.2
• /
• pp.87-96
• /
• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Journal of Fisheries and Marine Sciences Education
• /
• v.15 no.1
• /
• pp.47-56
• /
• 2003

Recently with the conclusion of fisheries agreements between Korea and Japan, and between Korea and China, trawlers in korea must operate in smaller fishing ground than before. As a result of this, the possibilities of collisionin increases gradually between trawlers under operation in this area. Authors performed a series of experiments on board to give the information of collision avoiding action to navigators of trawlers. The obtained results are summerized as follows : 1. The greater the rudder angle, the smaller the value of T, but there is no big diffierence in K due to rudder angle. 2. The greatest distance is to be kept by the give way vessel to avoid collision when the crossing course angle is $70^{\circ}{\sim}90^{\circ}$. In this case the safety minimum approaching distance must be more than 5 times of her own length. 3. Risk of collision in crossing is more greater in obtuse situation than in acute one. 4. The navigator of the give way vessel must take an action to avoid collisions outside of the minimum safety approaching distance.