실해역실험과 시뮬레이션을 이용한 무인수중글라이더의 운동성능해석

Abstract

The Underwater glider does not have any sperate thruster to obtain propulsion. It just uses motion controller and buoyancy controller. When the underwater glider moves forward, it moves up and down with a certain pitch angle. Then the underwater glider obtains propulsvie force because the lift force and drag force are act on the underwater glider. In this paper, we derive the nolinear 6-DOF equation of motion. Also, we were doing mathematical modeling for buoyancy controller and motion controller. We were not only performed the nonlinear 6 DOF motion simulation using these equation also performed the field test. We were confirmed that the motion behavior of the underwater glider through the ananlysing of the both data.water glider obtains propulsvie force because the lift force and drag force are act on the underwater glider. In this paper, we derive the nolinear 6-DOF equation of motion. Also, we were doing mathematical modeling for buoyancy controller and motion controller. We were not only performed the nonlinear 6 DOF motion simulation using these equation also performed the field test. We were confirmed that the motion behavior of the underwater glider through the ananlysing of the both data.