• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.132-137
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• 2014

In this paper, An LQR controller is proposed for way-point tracking of AUV (Autonomous Underwater Vehicle). The LQR controller aims at tracking a series of way-points which operator registers arbitrarily in advance. It consists of a depth controller and a steering controller and AUV's surge speed is assumed varying to consider the dynamic environment of the underwater. In order to show the performance, a conventional state feedback controller is compared with the proposed controller by the simulation using Matlab/Simulink. The parameters of AUV developed by the author's laboratory are used. In the simulation, we verify that the LQR controller can track all the way-points within 1 m error range under the varying surge speed, which proves the robustness of the LQR controller.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.661-666
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• 2013

A state feedback controller with integration of output error is proposed for way-point tracking of an AUV (Autonomous Underwater Vehicle). For the steering control on the XY plane, the proposed controller uses three state variables (sway velocity, yaw rate, heading angle) and the integral of the steering error, and for the depth control on the XZ plane, it uses four state variables (pitch rate, depth, pitch angle) and the integral of the depth error. From the simulation using Matlab/Simulink, we verify that the performance of the proposed controller is satisfactory within an error range of 1m from the target way-point for arbitrarily chosen sets of consecutive way-points.

• 대한조선학회논문집
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• 제60권4호
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• pp.256-265
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• 2023

This paper describes the results of the development of the submarine Free Running Model (FRM). First, the goal of development was set based on the test conditions and the test environment, and the system was obtained accordingly. The target submarine, Joubert BB2 submarine, was selected with a scale of 18.35 in accordance with the development goal. In order to conduct a submarine FRM test underwater, where communication is impossible, the FRM must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) based underwater integrated navigation system and control system using a sailplane and an X-shaped sternplane were designed respectively. In addition, a ballast system was designed to enable the model to float to the water surface in case of an emergency. To verify its propulsion, navigation, and control performance, the FRM tests were conducted in both indoor and outdoor basins. As a result, the relationship between propeller RPM and vehicle speed was derived, and it was confirmed that the navigation and control performance met the target value.

• 한국통신학회논문지
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• 제23권4호
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• pp.1100-1112
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• 1998

본 연구에서 망동기 시스템의 동기 기준 클럭과 시스템 클럭간에 발생하는 위상 오차를 최소화하기 위한 새로운 위상 오차 검출방식이 제안되었고 이 방식을 디지털 처리 위상 동기 루프(digital processing phase locked loop:DP-PLL) 시스템에 적용하였다. 두 클럭간에 발생하는 위상 오차는 지연된 n-탭 상승 에지 클럭으로 구성한 위상 오차 검출기에 의해 위상 오차 변이 (PEV:Phase Error Variation)로 출력된다. 위상 오차 변이는 5ns해상도로 검출되며 검출된 위상 오차 변이는 알고리즘에 의해 최적의 D/A변환기 계수를 추적하면서 위상 동기를 유지한다. 실험결과 위상 검출기는 빠르고 정확한 위상 추적 특성을 갖고 있으며 루프제어 알고리즘은 우수한 지터 억압 특성을 나타내었다.