Maneuvering Hydrodynamic Forces Acting on Manta-type UUV Using CFD

이성은,이성욱,배준영 한국해양공학회 2020 韓國海洋工學會誌 Vol.34 No.4

In this study, we investigate surge force, heave force, and pitch moment, which are vertical plane hydrodynamics acting on Manta-type unmanned underwater vehicles (UUVs), using a model test and computational fluid dynamics (CFD) simulation. Assessing the maneuvering hydrodynamic characteristic of an underwater glider in the initial design stage is crucial. Although a model test is the best approach for obtaining the maneuvering hydrodynamic derivatives for underwater vehicles, numerical methods, such as Reynolds averaged Navier–Stokes (RANS) equations, have been used owing to their efficiency in terms of time and cost. Therefore, we conducted an RANS-based CFD calculation and a model test for Manta-type UUVs. In addition, we conducted a validation study through a comparison with a model test conducted at a circular water channel (CWC) in Korea Maritime & Ocean University Furthermore, two RANS solvers (Star-CCM+ and OpenFOAM) were used and compared. Finally, the maneuvering hydrodynamic forces obtained from the static drift and resistance tests for a Manta-type UUV were presented.

중복분해 기법을 이용한 다중 무인 잠수정의 분산형 편대 제어

문지현,이재준,이호재 한국지능시스템학회 2017 한국지능시스템학회논문지 Vol.27 No.6

This paper deals with the decentralized controller design technique for unmanned underwater vehichles(UUVs) formation with arbitrary information flow constraints. The dynamics model of the UUVs is feedback linearized and each UUVs can only use information about itself and its preceding object. In this paper, a large-scale system is expanded by overlapping decomposition technique to make a distributed form into small systems. The design condition is represented in terms of linear matrix inequalities. This controller is contracted for implementation in the original space. Numerical simulation shows the effectiveness of the proposed method. 본 논문은 임의의 정보 흐름의 제약을 갖는 무인잠수정(unmanned underwater vehicles: UUVs) 편대에 관한 분산제어기 설계기술을 다룬다. 무인잠수정의 동역학 모델은 피드백 선형화되고 각각의 무인잠수정은 자기 자신과 자신의 바로 앞의 개체에관한 정보만을 사용할 수 있음을 가정한다. 본 논문에서는 중복분해 기법으로 대규모 시스템을 확장(expansion)하여 소규모시스템이 분산된 형태로 만든다. 선형행렬부등식(linear matrix inequalities: LMI)을 이용해 제어기를 설계하고 이 제어기를원래의 공간으로 축약(contraction)한다. 수치적인 시뮬레이션을 통해 제안된 기법의 효용성을 확인한다

UUV Platform Optimal Design for Overcoming Strong Current

Min-Gyu Kim,Hyungjoo Kang,Mun-Jik Lee,Gun Rae Cho,Ji-Hong Li,Cheol Kim 한국해양공학회 2021 韓國海洋工學會誌 Vol.35 No.6

This paper proposes an optimal design method for an unmanned underwater vehicle (UUV) platform to overcome strong current. First, to minimize the hydrodynamic drag components in water, the vehicle is designed to have a streamlined disc shape, which help maintaining horizontal motion (zero roll and pitch angles posture) while overcoming external current. To this end, four vertical thrusters are symmetrically mounted outside of the platform to stabilize the vehicle’s horizontal motion. In the horizontal plane, four horizontal thrusters are symmetrically mounted outside of the disc, and each of them has the same forward and reverse thrust performances. With these four thrusters, a specific thrust vector control (TVC) method is proposed, and for external current in any direction, four horizontal thrusters are controlled to generate a vectored thrust force to encounter the current while minimizing the vehicle’s rotation and maintaining its heading. However, for the numerical simulations, the vehicle’s hydrodynamic coefficients related to the horizontal plane are derived based on both theoretical and empirically derived formulas. In addition to the simulation, experimental studies in both the water tank and circulating water channel are performed to verify the vehicle’s various final performances, including its ability to overcome strong current.

Operating Point Optimization of Fuel Cell-Battery Power System for Unmanned Underwater Vehicle

Tae-Ryong Park,Kiyoul Kim,Jang-Hyeon Cho 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

UUV(Unmanned Underwater Vehicle) is an important unmanned weapon system capable of surveillance and reconnaissance missions in threatened areas. For the UUV’s power system, fuel cell and battery hybrid system capable of long submersion time and high efficiency have been widely developed. In the fuel cell and battery hybrid system, energy efficiency can be improved by power split optimization according to the power demand from UUV that changes in real time. The optimization process allows each battery and fuel cell system to be operated at the optimal point. In case of submarine, since the operation scenario is limited to a few and it mostly operates within a given mission scenario, dynamic programming method can be an efficient optimization method. Therefore, in this paper, we are introducing 30-day operational UUV fuel cell-battery system under development. And also, we found optimal operating point of fuel cell and battery system through dynamic programming method.

PLL controller for precise velocity tracking of UUV

Jun-Hee Lee,Hyun-Su Kim,Jong-gu Park,Tae-Yong Kuc,Nak-Yong Ko,Yong-Seon Moon 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UUV. Simulation results are given to demonstrate the feasibility and effectiveness of the proposed controller for UUV motion control.

만타형 UUV의 제어기 설계에 관한 연구 : A Study of the Control System on the Manta-type UUV

김형동(Hyeong-Dong Kim),김준영(Joon-Young Kim),김시홍(Si-Hong Kim),이승건(Seung-Keon Lee) 한국항해항만학회 2011 한국항해항만학회지 Vol.35 No.5

본 연구에서는 만타 형상을 가진 무인잠수정(Manta-type unmanned underwater test vehicle)의 제어 성능 평가를 수행 하였다. 제어 방법으로서 PID제어, Fuzzy 제어가 적용되었으며, 6자유도 운동 수학모델과 Matlab Simulink을 이용하여 조종 운동 시뮬레이션을 수행하였다. 또한, 설계된 제어기로 수심제어 및 방위제어에 적용하여, 조류의 외란 하에서 제어 성능을 평가하였다. In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal current are evaluated.

만타형 UUV의 제어기 설계에 관한 연구

김형동(Hyeong-Dong Kim),이승건(Seung-Keon Lee),김준영(Joon-Young Kim),김시홍(Si-Hong Kim) 한국항해항만학회 2010 한국항해항만학회 학술대회논문집 Vol.2010 No.추계

본 연구에서는 만타 형상 무인잠수정(Manta-type unmanned underwater test vehicle)의 제어 성능 평가를 하였다. PID제어, Fuzzy 제어가 적용되었으며, 6자유도 운동을 사용하여 Matlab Simulink로 시뮬레이션 프로그램을 구성하였다. 설계된 제어기로 수심 및 방위제어에 사용되었으며 조류의 외란 하에서의 제어 성능을 평가하였다. In this paper, automatic control system for the Manta UUV are constructed for the diving and steering maneuver. PID controller and Fuzzy controller are adopted in this system. Based on the 6DOF dynamic equation, simulation program has been developed using the Matlab. Using this program, depth control system and heading control system with tidal current are evaluated.

MOOS-IvP를 이용한 무인잠수정 제어기 개발의 효용성

김지연,이동익 대한임베디드공학회 2014 대한임베디드공학회논문지 Vol.9 No.3

This paper demonstrates the benefit of using MOOS-IvP in the development of control system for Unmanned Underwater Vehicles(UUV). The demand for autonomy in UUVs has significantly increased due to the complexity in missions to be performed. Furthermore, the increased number of sensors and actuators that are interconnected through a network has introduced a need for a middleware platform for UUVs. In this context, MOOS-IvP, which is an open source software architecture, has been developed by several researchers from MIT, Oxford University, and NUWC. The MOOS software is a communication middleware based on the publish-subscribe architecture allowing each application to communicate through a MOOS database. The IvP Helm, which is one of the MOOS modules, publishes vehicle commands using multi-objective optimization in order to implement autonomous decision making. This paper explores the benefit of MOOS-IvP in the development of control software for UUVs by using a case study with an auto depth control system based on self-organizing fuzzy logic control. The simulation results show that the design and verification of UUV control software based on MOOS-IvP can be carried out quickly and efficiently thanks to the reuse of source codes, modular-based architecture, and the high level of scalability.

무인잠수정 추진기의 다물리 모델

안용석(Yong-Seok Ahn),백운경(Woon-Kyung Baek) 한국정보기술학회 2016 한국정보기술학회논문지 Vol.14 No.6

In the early design stage of underwater vehicles, it is important to estimate the vehicle’s underwater motion performance. The key design elements for the motion are propellers, battery power, and underwater resistance of the vehicle. Small thrusters with motor and propeller are usually used for the UUV(unmanned underwater vehicles). In this study, a multi-physics thruster model combining electro-mechanical and hydrodynamics characteristics was proposed to estimate the thruster performance. To show the applicability of the model, an existing thruster was used to derive the electro-mechanical and hydrodynamics equations with known parameters. Hydrodynamic parameters were calculated for a 3D geometry model of the propeller by ANSYS/CFX program. Finally, Matlab/simulink program was used for the numerical simulation to predict the thruster performance from the given voltage/current input to the motor. The thruster performance curves obtained from this simulation were confirmed to be similar with those results by Yoerger and Healey.

Manta type UUV의 슬라이딩 모드 제어기 설계에 관한 연구

김희수(Heui-Su Kim),손경호(Kyoung-Ho Sohn),이승건(Seung-Keon Lee) 한국항해항만학회 2011 한국항해항만학회 학술대회논문집 Vol.2011 No.추계

본 연구에서는 Manta type UUV의 비선형 수학모델과 유체력 미계수를 소개하고, 자유항주실험용으로 제작된 Manta type UUV의 슬라이딩 모드 제어기 설계를 다루고 있다. 비선형운동에 대해 강인한 제어기를 설계하기 위해서 슬라이딩 모드 제어 기법을 사용하였고, 조류의 영향을 고려한 6자유도 운동 수학모델을 기반으로 하는 심도 및 방위제어기를 설계 하였다. 또한, 설계된 심도 및 방위 제어기의 성능을 컴퓨터 시뮬레이션으로 확인하였다. In this study, the nonlinear mathematical model of Manta type UUV is derived the hydrodynamic derivatives and the sliding mode controller of Manta type UUV test bed is designed. The sliding mode control scheme is used for robust control on the nonlinear motion. The designed controller is used the depth and heading control. It is based on the 6 DOF mathematical model with effect of the ocean currents. As a result, the performance of the designed controller is confirmed by computer simulation.