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PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증
박성국(Sung-kook Park),이필엽(Phil-yeop Lee),박상웅(Sangwoong Park),권순태(Soon T. Kwon),정훈상(Hunsang Jung),박민수(Min-su Park) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.12
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
PD제어 기법을 적용한 어뢰형 무인잠수정(HW200)의 선수각 및 심도제어기 설계와 실해역 성능 검증
박성국,이필엽,박상웅,권순태,정훈상,박민수,Park, Sung-kook,Lee, Phil-yeop,Park, Sangwoong,Kwon, Soon T.,Jung, Hunsang,Park, Min-su 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.
외부 환경 변화에 의한 비 접촉 체온계의 오차 범위 측정
김정은 ( Kim Jeongeun ),박상웅 ( Park Sangwoong ),최혜경 ( Choi Heakyung ) 대한통합의학회 2020 대한통합의학회지 Vol.8 No.4
Purpose : A person infected by SARS-CoV2 may present various symptoms such as fever, pain in lower respiratory tract, and pneumonia. Measuring body temperature is a simple method to screen patients. However, changes in the surrounding environment may cause errors in infrared measurement. Hence, a non-contact thermometer controls this error by setting a correction value, but it is difficult to correct it for all environments. Therefore, we investigate device error values according to changes in the surrounding environment (temperature and humidity) and propose guidelines for reliable patient detection. Methods : For this study, the temperature was measured using three types of non-contact thermometers. For accurate temperature measurement, we used a water bath kept at a constant temperature. During temperature measurement, we ensured that the temperature and humidity were maintained using a thermo-hygrometer. The conditions of the surrounding environment were changed by an air conditioner, humidifier, warmer, and dehumidifier. Results : The temperature of the water bath was measured using a non-contact thermometer kept at various distances ranging from 3~10 ㎝. The value measured by the non-contact thermometer was then verified using a mercury thermometer, and the difference between the measured temperatures was compared. It was observed that at normal surrounding temperature (24 ℃), there was no difference between the values when the non-contact thermometer was kept at 3 ㎝. However, as the distance of the non-contact thermometer was increased from the water bath, the recorded temperature was significantly different compared with that of mercury thermometer. Moreover, temperature measurements were conducted at different surrounding temperatures and the results obtained significantly varied from when the thermometer was kept at 3 ㎝. Additionally, it was observed that the effect on temperature decreases with an increase in humidity Conclusion : In conclusion, non-contact thermometers are lower in lower temperature and dry weather in winter.
수중정찰용 자율무인잠수정의 운동 모델링 및 시험을 통한 계수 조정
이필엽(Phil-Yeop Lee),박성국(Sung-Kook Park),권순태(Soon Tae Kwon),박상웅(Sangwoong Park),정훈상(Hunsang Jung),박민수(Min-Soo Park),이판묵(Pan-Mook Lee) 한국해양공학회 2015 韓國海洋工學會誌 Vol.29 No.6
This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.