Submarine Free Running Model Development and Basic Performance Analysis

• DOI: 10.3744/snak.2023.60.4.256
• Publication Date: 2023-08-04T08:43:48Z
• Authors: Jooho Lee; Seonhong Kim; Jihwan Shin; Jinhyeong Ahn
• Keywords: Sea trial; Ballast

This paper describes the results of development submarine Free Running Model (FRM). First, goal was set based on test conditions and environment, system obtained accordingly. The target submarine, Joubert BB2 selected with a scale 18.35 in accordance goal. In order to conduct FRM underwater, where communication is impossible, must operate at least semi-autonomously. For this purpose, an Extended Kalman Filter (EKF) underwater integrated navigation control using sailplane X-shaped sternplane were designed respectively. addition, ballast enable model float water surface case emergency. To verify its propulsion, navigation, performance, tests conducted both indoor outdoor basins. As result, relationship between propeller RPM vehicle speed derived, it confirmed that performance met value.