Design and Control of High Speed Unmanned Underwater Glider SCIE SCOPUS KCI

Cited 13 time in WEB OF SCIENCE Cited 16 time in Scopus
Title
Design and Control of High Speed Unmanned Underwater Glider
Author(s)
Jeong, Sang-Ki; Choi, Hyeung-Sik; Bae, Jae-Hyun; You, Sam-Sang; Kang, Hyeon Seung; Lee, Shin-Je; Kim, Joon-Young; Kim, Dong-Hee; Lee, Yong-Kuk
Publication Year
2016-07
Abstract
In this paper, an underwater glider (UG) has been studied and developed for observing the ocean environment. The design and control of a new underwater glider (UG) having a high horizontal speed of the maximum 2.5 (Knots) was studied. For this, the capacity of buoyancy engine which performs 2.5 (Knots) horizontal speed was designed. Also, a controllable buoyancy engine to regulate the amount of buoyancy was developed for control of the pitching angle of UG. The mass shifter carrying the battery was designed for controlling pitching and yawing motion of the UG and the control system to control them was constructed. A mathematical modeling based on six degree-of-freedom dynamics equation including the buoyancy engine and mass shifter dynamics was performed to find the optimal pitching angle of the UG for maximum speed. Using the mathematical model, a simulation representing the vertical and horizontal speed of the UG with respect to pitching angles is developed and is presented. A number of experiments was performed to verify the accuracy of the simulation and the performance of the developed UG.
ISSN
2288-6206
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/2176
DOI
10.1007/s40684-016-0035-1
Bibliographic Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-GREEN TECHNOLOGY, v.3, no.3, pp.273 - 279, 2016
Publisher
KOREAN SOC PRECISION ENG
Keywords
Under water glider; Buoyancy engine; Control system; Motion control
Type
Article
Language
English
Document Type
Article
Publisher
KOREAN SOC PRECISION ENG
Files in This Item:
There are no files associated with this item.

qrcode

Items in ScienceWatch@KIOST are protected by copyright, with all rights reserved, unless otherwise indicated.

Browse