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김윤호(Youn-ho Kim),윤형식(Hyong-Sig Youn),임재환(Jae-Whoan Lim),이석필(Suk-pil Lee),박상희(Sang-Hui Park) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generally of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally much greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we designed adaptive notch filtering system using filter bank structure. Energies of each band-passed signal are obtained by MA(Moving Average )method and compared to produce center frequency. By adapting this parameter to notch filter, lst order seaway disturbance can be removed, which lead to the improvement of automatic depth control system.