Attitude Control of Underwater Vehicles using Control Moment Gyros = 제어 모멘트 자이로를 이용한 수중 운동체의 자세 제어

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This research illustrates the application of angular momentum of gyros in attitude control of underwater robots in consideration of underwater drag. Unlikely those commonly being used as sensors, the gyros show how their capabilities that generate torques as underwater actuators. Recently, actuators using the principle of angular momentum conservation have widely been utilized in attitude control of satellites and spacecrafts. CMGs as an internal torque actuator overcomes several drawbacks other external underwater actuators have. Control Moment Gyros(CMGs) creates large amount of torque compared to other internal actuators due to its mechanical structure. Here we demonstrate the attitude of underwater robot in accordance with Coriolis acceleration and angular momentum conservation. Instead of conventional methods which did not consider hydrodynamic effects into CMG dynamics, this study takes the factors of water drag, hardware saturation and viscosity into account and thus simulated the most feasible motion in fluid. It further analyzes of the controller which is designed to respond stably even with water drag corresponding to numerous underwater parameters and is finally simulated in time response.
Advisors
Lee, Do-Heonresearcher이도헌researcherLee, Kwang-Hyungresearcher이광형researcher
Description
한국과학기술원 : 로봇공학학제전공,
Publisher
한국과학기술원
Issue Date
2009
Identifier
308573/325007  / 020073442
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2009.2, [ viii, 66 p. ]

Keywords

underwater; torque; gyro; angular momentum; attitude; 수중; 토크; 자이로; 각운동량; 자세

URI
http://hdl.handle.net/10203/54222
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=308573&flag=dissertation
Appears in Collection
RE-Theses_Master(석사논문)
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