지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 주문갑
- 발행연도
- 2016
- 저작권
- 부경대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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Recently, Interest of ocean energy resource is increasing cosmopolitanly. It extend ocean robots developing investigation, then various robot was actively developed. Ocean robots are composed ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle). ROV is easy to control that is connected power cable and signal cable. But ROV''s movement is limited by cable length. AUV is not limited movement radius. Because it includes in power supply and controller. AUV is composed CAUV(Cruising AUV) and HAUV(Hovering AUV). CAUV explores expense of region, HAUV performs detail explore by a maintain posture in specific location.
In this master''s paper, I developed HAUV that is composed of 4 mechanical parts and 5 thrusters and designed PID controller for controlling 6-DOF(Degrees Of Freedom). The 4 mechanical parts are composed battery part, main control part, motor control part, and communication part. The 5 thruster are composed 2 rotating thruster that are omnidirectional, 2 horizontal thrusters, and 1 vertical thruster. The rotating thrusters are able to rotate by using 2 servo motor. Thrusters are control 6-DOF that X, Y, Z, K, M, N through PID controller. Through vertical and horizontal movement''s experimentations, I confirmed controller''s performance is high quality.
In this master''s paper, I developed HAUV that is composed of 4 mechanical parts and 5 thrusters and designed PID controller for controlling 6-DOF(Degrees Of Freedom). The 4 mechanical parts are composed battery part, main control part, motor control part, and communication part. The 5 thruster are composed 2 rotating thruster that are omnidirectional, 2 horizontal thrusters, and 1 vertical thruster. The rotating thrusters are able to rotate by using 2 servo motor. Thrusters are control 6-DOF that X, Y, Z, K, M, N through PID controller. Through vertical and horizontal movement''s experimentations, I confirmed controller''s performance is high quality.
목차
Ⅰ. 서론 1Ⅱ. HAUV의 구성 21. 선체 재원 22. HAUV의 구성도 63. 메인 제어 모듈 114. 전원 모듈 145. 모터 제어 모듈 176. 통신 제어 모듈 19Ⅲ. HAUV의 제어기 설계 201. 운동제어 알고리즘 202. 6자유도 제어기 설계 24Ⅳ. HAUV의 수중 실험 351. 수직 운동 실험 352. 수평 운동 실험 37V. 결론 39VII. 참고문헌 40
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