수중운동체의 유체계수 추정을 위한 시스템 식별기법 연구

It is necessary to estimate hydrodynamic coefficients to design the auto-pilot system and motion simulator of submersible vehicle. In this paper, an algorithm was designed to estimate hydrodynamic coefficients of submersible vehicle. Using this algorithm, the hydrodynamic coefficients were estimated from measurements of full scale trial. The estimated hydrodynamic coefficients were used for the design of an auto-depth controller(ADC) of submersible vehicle, and the resulting ADC are proved to have a better performance than the previous one.