X타 수중함의 유도·제어시스템 설계

• Published in: 大韓造船學會 論文集 Vol. 59; no. 5; pp. 306 - 313
• Main Authors: 박종용(Jong-Yong Park), 유영준(Youngjun You), 전명준(Myungjun Jeon), 윤현규(Hyeon-Kyu Yoon)
• Format: Journal Article
• Language: Korean
• Published: 대한조선학회 2022
• Subjects: Linear Quadratic Regulator control(LQR 제어); H-infinity control(H∞ 제어); Control allocation(제어할당); Proportional-Integral-Differential control(PID 제어); X-plane submarine(X타 수중함); X; H{\infty}; PID; LQR
• ISSN: 1225-1143; 2287-7355
• DOI: 10.3744/SNAK.2022.59.5.306

Most submarines use the cross-plane, which is convenient and inexpensive, but the number of submarines equipped with an X-plane is increasing recently. This study focuses on designing the control system of the X-plane submarine with various control methods and analyzing the effect of each controller. First, a maneuvering simulation environment for a subjected submarine is established. The dynamics and the operating range of control surfaces are considered. Second, a depth and heading control system of the submarine, which can be divided into three parts, is designed: guidance, controller, and control allocation. The guidance system generates a smooth desired depth and heading. The controller is designed using Proportional-Integral-Differential (PID), Linear Quadratic Regulator (LQR), and H-infinity (H∞) control methods. A linear control allocation method is used to distribute control moment calculated by the controller to the control surfaces. Finally, the designed control system is applied to a subjected X-plane submarine, and a depth and heading control simulations are performed. Each control method is compared and analyzed under various simulation conditions.