Validation of Maneuvering Controllers for an Extra Large Unmanned Underwater Vehicle using Hardware-In-the-Loop Simulation

An unmanned underwater vehicle(UUV) achieves autonomous operation via an autopilot system that performs automatic steering by utilizing guidance commands and navigation information, with minimal external intervention. This paper addresses the validation of maneuvering controllers with hardware in a land-based environment, prior to the initial launch of the UUV and its first sea trials for verifying maneuverability. To validate hardware such as the control device in a land-based environment, the dynamics model and controller of the UUV were developed and implemented within the system. Maneuvering test scenarios were designed to evaluate the performance of the maneuvering controllers and its maneuverability. Through hardware-in-the-loop simulation(HILS), land-based verification for the initial sea trials was performed by confirming the closed-loop operation of navigation-related devices, including the propulsion motor, control plane actuators, ballast tanks, trim tanks, and inertial navigation system.