수중운동체의 유체계수 추정을 위한 시스템 식별기법 연구 = A Study on the System Identification Technique for Hydrodynamic Coefficient Estimation of Underwater Submersible

다국어 초록 (Multilingual Abstract)

It is necessary to estimate hydrodynamic coefficients to design the auto-pilot system and motion simulator of submersible vehicle.
In this paper, an algorithm was designed to estimate hydrodynamic coefficients of submersible vehicle. Using this algorithm, the hydrodynamic coefficients were estimated from measurements of full scale trial. The estimated hydrodynamic coefficients were used for the design of an auto-depth controller(ADC) of submersible vehicle, and the resulting ADC are proved to have a better performance than the previous one.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 수중운동체 모델
• 3. 수정된 최소자승법을 이용한 유체계수 식별 알고리즘 유도
• 4. 유체계수 식별법의 실선적용
• 5. 실험적 검증
• 6. 결론
• 참고문헌