UNMANNED UNDERWATER VEHICLE USING MASS MOVING

摘要

Disclosed is an underwater vehicle using mass transport. The present invention comprises: two lateral thrusters performing the lateral operation control of a body; a vertical thruster performing the vertical operation control of the body; a moving mass performing operation control in a pitch angle direction; and a proportional integral derivative (PID) controller controlling the lateral thruster, the vertical thruster, and the moving mass. The PID controller comprises: a velocity and heading controller controlling velocity and progress by controlling the lateral thruster; a depth controller controlling underwater depth by controlling the vertical thruster; and a pitch angle controller controlling a pitch angle of the body by controlling the moving mass. According to the present invention, the underwater vehicle is capable of more clearly and accurately controlling an unmanned underground vehicle by performing lateral and vertical control by the thruster as well as mathematically modeling the operation of the pitch angle through the moving mass.