CAJ | 학술논문

水下自主航行器的回坞定位导航控制的任务是使水下自主航行器在洋流的影响下以一定的航艏向和姿态驶向接驳系统，并完成入坞这一过程。回坞过程分为3个阶段：远距离追踪式回航阶段、近距离中心线回航阶段、末端姿态调整阶段。针对不同阶段分别采用不同的引导方式：视线法、横向误差法、设计参考航向法实现回坞过程的路径规划，用 Proportional Integral Derivative (PID)控制法对回坞过程进行运动控制，并且利用数学模型在 Matlab/simulink 中对回坞定位导航控制进行仿真。仿真结果显示了文章所采用定位导航控制的有效性。
수하자주항행기적회오정위도항공제적임무시사수하자주항행기재양류적영향하이일정적항수향화자태사향접박계통，병완성입오저일과정。회오과정분위3개계단：원거리추종식회항계단、근거리중심선회항계단、말단자태조정계단。침대불동계단분별채용불동적인도방식：시선법、횡향오차법、설계삼고항향법실현회오과정적로경규화，용 Proportional Integral Derivative (PID)공제법대회오과정진행운동공제，병차이용수학모형재 Matlab/simulink 중대회오정위도항공제진행방진。방진결과현시료문장소채용정위도항공제적유효성。
Autonomous Underwater Vehicle (AUV)docking mission involves the navigation and positioning control of the vehicle,which aims to control vehicle attitude and complete the docking process. The work takes the effect of ocean currents on the docking process into consideration.The docking process is divided into three phases:remote tracking navigation,close centerline navigation,and terminal attitude adjustment.Corresponding to different docking phases,three different guidance methods are adopted to achieve path planning, which are line-of-sight, cross-track-error, and designing-reference-heading methods.PID controller is used for the back-to-dock motion control.The dynamic model of AUV is set up mathematically and the docking process is simulated with Matlab/Simulink.The results validate the performance of the navigation and positioning control method discussed in this paper.