Design and field test of heading and depth control based on PD control of torpedo type AUV, HW200

被引：1

作者：

Park, Sung-Kook ^{[1
]}

Lee, Phil-Yeop ^{[1
]}

Park, Sangwoong ^{[1
]}

Kwon, Soon T. ^{[1
]}

Jung, Hunsang ^{[1
]}

Park, Min-Su ^{[1
]}

机构：

[1] Hanwha Corporation R and D Center, Korea, Republic of

来源：

Journal of Institute of Control, Robotics and Systems | 2015年 / 21卷 / 10期

关键词：

AUV; Depth control; Heading control; HW200; PD controller; See trial; UUV;

D O I：

10.5302/J.ICROS.2015.15.0093

中图分类号：

学科分类号：

摘要：

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R & D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test. © ICROS 2015.

引用

页码：951 / 957

页数：6

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