포텐셜함수 기반 초공동 수중운동체 플레이닝 회피 제어 연구

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 32; no. 3; pp. 208 - 212
• Main Authors: 김선홍(Seonhong Kim), 김낙완(Nakwan Kim), 김민재(Minjae Kim), 김종혁(Jonghoek Kim), 이건철(Kurnchul Lee)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2018
• Subjects: 해양공학; Planing protection 플레이닝 보호; Potential function 포텐셜 함수; Supercavitating underwater vehicle 초공동 수중운동체; Planing estimation 플레이닝 예측; Planing avoidance 플레이닝 회피
• ISSN: 1225-0767; 2287-6715
• DOI: 10.26748/KSOE.2018.6.32.3.208

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.