무인 잠수정 연구 개발 동향 분석 및 발전 방안

이지은(Ji Eun Lee) 한국산학기술학회 2019 한국산학기술학회논문지 Vol.20 No.9

무인 잠수정은 접경지역이나 적 잠수함이나 잠수정이 출몰하는 위협지역에서 감시 정찰 임무 가능한 주요 무기체계로 국내 · 외에서 활발한 연구 개발이 진행되고 있다. 무인 잠수정의 주요 활용처는 민수 분야에서는 해저 자원 탐사, 재난 예측, 해저 지형 조사 등에 활용가능하고, 국방 분야에서는 위협 지역이 등에서 적 잠수함/정 등에 대한 대잠 정찰, 기뢰 제거 등에 활용 가능하다. 본 논문에서는 무인 잠수정의 무게별, 임무별 주요 분류에 대해서 살펴보고, 무게별 주요분류 기준에 따라 휴대용급, 경량급, 중량급, 대형급 무인 잠수정의 국외 개발 동향을 조사 · 분석한다. 이를 기반으로 국내 무인 잠수정 개발 동향을 조사 · 분석하여 국외 대비 국내 현황을 살펴본다. 또한 앞서 조사 · 분석된 국내 · 외 주요 무인잠수정 개발 현황을 통하여, 본 논문에서는 미래 국내 무인 잠수정의 핵심 기술로 은밀성 강화와 통합 전장 운영이 가능한 자율제어 기술, 수중 장기 체류가 가능한 차세대 에너지원 기술, 소형화 및 경량화 기반의 정밀 센서 기술 등 미래 무인잠수정에 대한 발전 방안을 제시한다. An unmanned underwater vehicle is a major weapon system that allows surveillance and reconnaissance missions in border areas or threatening areas where enemy submarines are present. Unmanned underwater vehicles can be used to explore underwater resources, predict disasters, and survey the topography of the ocean floor in the civilian fields, while in the defense fields, it can be used for anti-submarine reconnaissance and mine countermeasures. In this paper, we first investigate the main classification of unmanned underwater vehicles, and foreign R&D trends are analyzed based on the main classification criteria by weight, such as portable, light, heavy and large-scale unmanned underwater vehicles. Then we examine the trends in the development of domestic unmanned underwater vehicles. Finally, through the analysis of both domestic and foreign unmanned underwater vehicles, we present future development trends of unmanned underwater vehicles in order to set defense goals to counter the anticipated threats and diversified potential environment.

MEMS 자세 측정 센서 적용 고속 무인 잠수정 자동 조타 기법 검증

황아름,윤선일,김문환 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5

Unmanned underwater vehicles have many applications in scientific, military, and commercial area due to its autonomy. In many cases, the underwater vehicle usually adopts the control algorithm based on the tactical inertial sensor for the precise control. However the control algorithm using the tactical inertial sensor is not suitable for some underwater vehicle’s missions as like the decoy of the torpedo. This paper proposes the control algorithm of unmanned underwater vehicle which doesn’t needs the precise control. The control algorithm which is adopted with low cost MEMS inertial sensor is proposed for the unmanned underwater vehicle and the simulation using the specification of the MEMS inertial sensor under developing is performed for the verification of control algorithm under real environment and the results of the simulations are presented.

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.

심해 무인잠수정 1차 케이블의 동적거동 수치해석

권도영(DO-YOUNG KWON),박한일(HAN-IL PARK),정동호(DONG-HO JUNG) 한국해양공학회 2005 韓國海洋工學會誌 Vol.19 No.3

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The umbilical cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A numerical method is necessary for analysing the dynamic behavior of a marine cable. In this study, a numerical program is established based on a finite difference method. The program is appled to 6000m long cable for a deep-sea unmanned underwater vehicle and shows good reasonable results.

랜덤가진 하에 있는 ROV와 지지케이블의 수치해석 거동해석

권도영(DO-YOUNG KWON),박한일(HAN-IL PARK) 한국해양환경·에너지학회 2004 한국해양환경·에너지학회 학술대회논문집 Vol.2004 No.-

Ocean developments gradually move to deep-sea in the 21 century. A deep-sea unmanned underwater vehicle is one of important tools for ocean resource survey. A marine cable plays an important role for the safe operation and signal transmission of a deep-sea unmanned underwater vehicle. The first cable of a deep-sea unmanned underwater vehicle is excited by surface vessel motion and shows non-linear dynamic behaviors. A ROV launcher is also excited by the 1st cable motion. A numerical method is necessary for analysing the dynamic behaviour of the first marine cable and the ROV launcher. In this study, a numerical program is appled to a 6,000m long cable for a deep-sea unmanned underwater vehicle to show shows the dynamic behaviour of the cable and the ROV launcher under random excitations.

공중 이동이 가능한 자율 무인 잠수정 개념 설계

백승재,정상기,이석형,정봉출,조규철 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5

Domestic maritime accidents are continuously increasing. Due to the increase in leisure activities, the frequency of accidents involving small vessels, such as leisure vessels and fishing boats, has been on the rise. Compared to large ships, small ships sink rapidly due to their body size. Accordingly, great damage occurs before the arrival of human/material resources for rescue. In this study, the concept of air/underwater safety equipment for rapid arrival and rescue was designed to minimize human casualties caused by maritime accidents and to provide the necessary information until the arrival of rescue personnel or equipment. The proposed FAUV (Flying Autonomous Unmanned Vehicles) provides basic information so that it can establish a preemptive rescue plan in an urgent situation by promptly transmitting maritime search and investigation-related information. It is faster than the equipment/manpower applied to current maritime accident systems, this piece of equipment can rapidly arrive at the field. To this end, this paper proposes a conducted study on the conceptual design of such a device and outlines the necessary elements of a single-body unmanned underwater/aerial AUV (Autonomous Underwater Vehicle) equipment that can be simultaneously operated in air and water. .

무인잠수정 제어시스템을 위한 네트워크 전송지연 및 패킷분실 보상기법

양인석,강선영,이동익,Yang, Inseok,Kang, Sun-Young,Lee, Dongik 대한임베디드공학회 2011 대한임베디드공학회논문지 Vol.6 No.3

Transmission delay and packet loss induced by a communication network can degrade the control performance and, even make the system unstable. This paper presents a method for compensating transmission delay and packet loss in a networked control system for unmanned underwater vehicle. The proposed method is based on Lagrange interpolation in order to satisfy the requirements of simplicity and model-independency. In this work, the lost/delayed data are estimated in real time by only using the past data without requiring any mathematical model of the controlled system. Consequently, the proposed method can be implemented independent of the controlled system, and also it can achieve fast and accurate compensation performance. The performance of the proposed technique is evaluated by numerical simulations with an unmanned underwater vehicle.

Controller Design to Coordinate Autonomous Unmanned Surface and Underwater Vehicles

이재용(Jaeyong Lee) 한국해양공학회 2012 韓國海洋工學會誌 Vol.26 No.3

In this paper, addressed is the control problem of generating a formation for a group of unmanned surface and underwater vehicles. The formation control scheme proposed in this work is based on a fusion of theleader-follower and virtual reference approaches. This scheme gives a formation constraint representation that is independent of the number if vehicles in the formation and the resulting control algorithm is scalable. One of the most important features in controller design is the ability of the controller to globally and exponentially stabilize the formation errors defined by the formation constraints. The proposed controller is based on feedback linearization, and the formation errors are shown to be globally and exponentially stable in the sense of Lyapunov.

수중 선체에 장착된 로봇팔 궤적의 비귀환형 적응제어

이판묵(PAN-MOOK LEE),여준구(JUNKU YUH) 한국해양공학회 2000 韓國海洋工學會誌 Vol.14 No.2

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems (UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme is the upper bound and lower bound of the system parameter matrices, the upper bound of unmodeled effects, the number of joints, the position and attitude of the vehicle, and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller, computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

무인 수상선의 수중 추진기 고장 진단 연구를 위한 고장 특성 인자 선정 및 실험

조현준,최형식,김형진,남건석,류제두,하경남 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.6

As interest in unmanned vessel research has increased, emphasis on autonomous navigation capability and the sustainability of normal operation has been highlighted. However, research on fault detection and diagnosis (FDD) for unmanned surface vehicles (USVs) is insufficient compared with research on land machinery or unmanned aerial vehicles. Among prior studies on USV FDD, intensive analysis or diagnostics for individual elements with high failure probability were barely conducted. This study focus on fault detecting features of a USV thruster, one of the most failure-prone elements other than internal causes or software malfunctions. A hypothesis for thruster fault detecting features was made based on general thruster-related equations; the features were tested on a stand-alone thruster test to assess the feature’s acceptability. However, a stand-alone thruster test lacks important effects such as structural vibratory influence of an actual USV, thruster load difference due to inflow velocity and wave-induced vibrations as the USV slides on the water’s surface. Hence, USV capable of acquiring fine quality real-time data for FDD practice was developed, and a surface driving test in a water basin was conducted to confirm the eligibility of the selected features. .