근해 조사용 무인잠수정의 개발

다국어 초록 (Multilingual Abstract)

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed a vehicle entitled KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50(m) of the sea surface. We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree-of-freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of a master DSP controller, DSP controller for the motor control and various sensors. We composed the PID control algorithm and a network system for controlling motors using the CAN communication. The performance of the KMU-ROV was presented by testing the developed control algorithm and control system under the water.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 수중 로봇의 운동방정식
• 3. KMU-ROV 기구부 설계
• 4. KMU-ROV 제어시스템 설계
• 5. 실험 및 고찰
• 6. 결론
• 참고문헌

참고문헌 (Reference)

1 Choi, Y.S., "Underwater Robot Technology for Inspection" 23-27, 2006

2 Fossen, T.I., "Guidance and Control of Ocean Vehicles" John Willey & Sons. 1994

3 Lee, P. M., "Development an Hae-Mi-Rae and Hae-Nu-Bi for Deep-See" 30-32, 2005

4 Lee, P.M., "Development an Advanced Deep-See Unmanned Underwater Vehicle" 한국해양연구원 연구보고서 2003