An apparatus for controlling a course of an unmanned underwater vehicle according to an embodiment of the present invention comprises: a navigation device that estimates the speed through water and speed over ground of the unmanned underwater vehicle and calculates the speed of tidal current based on the estimations; a central control device that calculates a heading angle of the unmanned underwater vehicle based on the speed of tidal current to output a rudder angle control signal and a speed control signal; a driving device that controls the steering angle of the rudder according to the rudder angle control signal; and a propulsion device that controls the speed of an electric motor according to the speed control signal. As a result, the unmanned underwater vehicle can maintain its course without experiencing drift or speed reduction even when subjected to lateral currents while traveling along an input course. Additionally, since the unmanned underwater vehicle travels with a side-slip angle, less external force acts on the rudder's driving than other control methods, so power consumption may be reduced.

    본 발명의 일실시예에 따른 무인잠수정의 경로 제어 장치는 무인잠수정의 대수속도 및 무인잠수정의 대지속도를 추정하고, 이를 기반으로 조류속도를 산출하는 항법장치, 산출된 조류속도를 기반으로 무인잠수정의 선수각 및 무인잠수정을 산출하여 타각 제어 신호 및 속도 제어 신호를 출력하는 중앙통제장치, 타각 제어 신호에 따라 방향타의 타각을 제어하는 구동장치 및 속도 제어 신호에 따라 전동기의 속도를 제어하는 추진장치를 포함함으로써, 입력된 경로로 주행 중 측면 조류가 작용하여도 드리프트 및 속도저하가 발생하지 않고 경로를 유지하며 주행이 가능하며, 사이드슬립각을 가지고 주행하기 때문에 다른 제어기법에 비해 구동타에 외력이 적게 작용하여 전력소모를 줄일 수 있다.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Apparatus for Controlling Rout of Autonomous Underwater Vehicle and Method thereof


    Weitere Titelangaben:

    무인잠수정의 경로 제어 장치 및 방법


    Beteiligte:
    KIM YONG HYUN (Autor:in)

    Erscheinungsdatum :

    20.07.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen





    AUTONOMOUS UNDERWATER VEHICLE RECOVERY METHOD, AND AUTONOMOUS UNDERWATER VEHICLE

    ZHANG AIDONG / WANG CHAO / MEI TAO et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    APPARATUS FOR CONTROLLING AUTONOMOUS VEHICLE AND METHOD THEREOF

    CHUNG SUNG MUN | Europäisches Patentamt | 2020

    Freier Zugriff

    APPARATUS FOR CONTROLLING AUTONOMOUS VEHICLE AND METHOD THEREOF

    KIM EUNG-SEO / SUNG DONG-HYUN / KWON YONG-SEOK et al. | Europäisches Patentamt | 2024

    Freier Zugriff