X타 수중함의 유도·제어시스템 설계

Abstract

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.