Development and control of a new AUV platform |
| |
Authors: | Mai Ba Loc Hyeung-Sik Choi Jung-Min Seo Se-Hoon Baek Joon-Young Kim |
| |
Affiliation: | 1. Department of Mechanical Engineering, Graduate School, Korea Maritime University, 727 Taejong-ro, Yeongdo-gu, Busan, 606-791, Korea 2. Division of Mechanical and Energy Systems Engineering, Korea Maritime University, Busan, Korea 3. Division of Marine Equipment Engineering, Korea Maritime University, Busan, Korea
|
| |
Abstract: | This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV-1, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring. The KAUV-1 has a unique ducted propeller located at the aft end with yawing actuation acting as a rudder. For depth motion, the KAUV-1 is designed to have a mass shifter mechanism inside to change the vehicle center of gravity and to control its pitch angle and depth motion. The paper also presents an analysis on the equations of motion of the KAUV-1 with mass shifter mechanism and a new depth control strategy for the KAUV-1. The feasibility of the proposed control strategy is validated through simulation and experiment of performance of the vehicle. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|