• 대한기계학회논문집A
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• 제20권3호
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• pp.850-860
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• 1996

This paper considers a sliding mode controller for a depth and course control of a class of submersible Vehicles. Since the vehicle used here shows complex dynamic characteristics sensitive to speed variation and buoyancy, robustness in control of vertical and horizontal plane motions of the vehicle is achieved by using the sliding mode controller of which a structure varies according to a pre-designed principle, so called the variable structure control. To compare this controller with another in robustness, PID controller for the same model of vehicle is designed. From various simulations for two controllers, it is shown that the sliding mode controller is the more robust anainst to modeling errors and disturbances.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• 한국항해학회지
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• 제11권1호
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• pp.93-106
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• 1987

Nowadays natural resources on shore have been almost exhausted all over the world and mankind is beginning searching for unexploited resources on the bed of deep-sea floor. In exploring mineral resources and etc. in the ground of sea-bed, a sumbersible craft is one of the most important tools. These days, the stage of the technique of building and operating an exploring submersible craft is almost alike that of building and operating an airplane in the first years of the nineteen-twenties. At the present time, the problems arising in building and operating a submersible craft can be divided into four parts as follows; 1. How to build a hull that can bear high pressure under deep sea level. 2. How to decide the necessary facilities to be put on it. 3. How to decide the scope of stabilities and maneuvering characteristics of it. 4. On what sea conditions, the devices of launching and recovering it should be designed on the mother-ship. In this paper treating one of the third problems the author made a mathematic formula that can be useful in deciding the scope of dynamic course stability on the vertical plane and actually calculated the onset speed of pitch instability of an exploring craft. With the above mentioned calculations the author demonstrated that the value of $Z_g$ and the speed of a submerged craft are the most important factors in decideing the scope of dynamic stability on the vertical plane.

• 대한기계학회논문집A
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• 제39권9호
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• pp.871-877
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• 2015

다양한 기계부품과 센서류가 포함된 수중로봇, 무인 잠수정 등과 같은 심해장비 시스템은 수심에 따른 높은 수압과 온도, 조류 등 심해의 복합적인 극한 환경조건의 영향을 받기 때문에 실제 현장에서 사용되기 전에 제품의 신뢰성을 검증하는 것이 매우 중요하다. 이러한 복합적인 해양환경을 재현하여 제품에 대한 실증적인 시험을 할 수 있는 시험장비의 구축이 요구되는 실정이다. 본 연구를 통하여 최대수압 2.0MPa, 수온 $5{\sim}60^{\circ}C$, 최대유속 2 m/s의 복합 환경조건의 구현이 가능한 워크인 타입의 수중복합 환경시험장비를 구성하는 주요 구성품의 개발 요구사양 및 설계방안을 제시하고 이를 통해 심해장비 시스템 및 모듈 부품에 대한 제품 신뢰도를 검증할 수 있는 시험장비의 개발 내용을 제시하고자 한다.