Decoupled Controller Design of Small Autonomous Underwater Vehicle and Performance Test using HILS

Chul, Hyun

doi:2013.16.2.130

J. KIMS Technol > Volume 16(2); 2013 > Article

Journal of the Korea Institute of Military Science and Technology 2013;16(2):130-137.
DOI: https://doi.org/10.9766/KIMST.2013.16.2.130

Decoupled Controller Design of Small Autonomous Underwater Vehicle and Performance Test using HILS

Hyun Chul

LIGNex1

소형 자율 수중 운동체의 비연성 제어기 설계 및 HILS 기법을 이용한 성능 평가

현철

LIG넥스원

Abstract

In this paper, decoupled controller design for Autonomous Underwater Vehicle(AUV) and its simulated performance test results and Hardware In the Loop Simulation(HILS) results are presented. Control system design is done using the PD control scheme. Stability analysis and step response of closed loop system under uncertain parameter condition are also presented. The results of full coupled nonlinear model simulation show the well applicability of the designed controller. From the results of HILS, we can verify performance of real time processing and implemented hardware for AUV.

Key Words: AUV, PID control, HILS, Actuator Modeling