Software-In-the-Loop based Modeling and Simulation of Unmanned Semi-submersible Vehicle for Performance Verification of Autonomous Navigation

[摘要] Since an unmanned semi-submersible is mainly used for the purpose of carrying out dangerous missions in the sea, it is possible to work in a region where it is difficult to access due to safety reasons. In this study, an USV hull design was determined using Myring hull profile, and reinforcement work was performed by designing and implementing inner stiffener member for 3D printing. In order to simulate a sea state 5.0 or more at sea, which is difficult to implement in practice, a regular and irregular wave equation was implemented in Matlab / Simulink. We performed modeling and simulation of semi - submersible simulation based on DMWorks considering the rolling motion in wave. To verify and improve unpredicted errors, we implemented a numeric and physical simulation model of the USV based on software-in-the-loop (SIL) method. This simulation allows shipbuilders to participate in new value-added markets such as engineering, procurement, construction, installation, commissioning, operation, and maintenance for the USV.

[发布机构] Dep't of Naval Architecture and Ocean System Engineering, Kyungnam University, Changwon, Korea, Republic of^1;Dep't of Electrical Engineering, Kyungnam University, Changwon, Korea, Republic of^2

[效力级别] 无线电电子学

[关键词] Autonomous navigation;Model and simulation;Performance verification;Physical simulation model;Regular and irregular waves;Software in the loop(SIL);Software in the loops;Submersible vehicles