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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2023.10
- 수록면
- 1,137 - 1,140 (4page)
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초록· 키워드
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In this paper, we constructed a simulation block for an underwater vehicle using the MATLAB Simulink tools. The equation of motion and parameters are referred from the MIT Autolycus. First, the step responses are checked to see the correctness of the model. Then the linear models for heave and surge motions are obtained using the system Identification tool in MATLAB Simulink using the step responses from the nonlinear model. A 2-degree-of-freedom PID controller is designed, and the performance and stability margins of the control loops are analyzed. It is found that both controllers have big gain margins and 69-degree phase margins. The bandwidths of the surge control loop and heave control loop are both 2 rad/sec. Both step responses show that the steady-state errors and maximum overshoot are small. We checked the linearly obtained controller on the nonlinear plant model and the results are good enough.
목차
Abstract
1. INTRODUCTION
2. PARAMETERS
3. EQUATION OF MOTION
4. SIMULATION
5. CONCLUSION
REFERENCES
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