자유항주모형시험을 통한 수중운동체의 수면 근처에서의 심도제어 및 조종성능 추정

Abstract

This paper addresses one of the methods to estimate the maneuverability of underwater vehicles, specifically the free-running model test. An underwater vehicle snorkeling near the surface is affected by environmental factors such as waves and free-surface effects, which influence the vehicle’s depth keeping ability and manoeuvring performance. Therefore, precise dynamic analysis on the vehicle near the surface is strongly required. To predict maneuverability, new free-running systems for underwater vehicles, applicable to 1-ton-class models, have been developed, and a model testing procedure for underwater vehicles was established using the systems and BB2 model. Based on the established procedure, manoeuvre tests, including depth changing and keeping performance tests using a practical depth control algorithm, horizontal turning tests, and zigzag tests, were conducted. The manoeuvre test results are presented with detailed data and pictures. The testing method and benchmark data obtained from this study will be used for the design and manoeuvre performance evaluation of various underwater vehicles in the future.