In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

Abstract
 1. 서 론
 2. 수중 이동 플랫폼 설계 및 제작
  2.1 플랫폼 설계
   2.1.1 플랫폼 외형 설계
   2.1.2 플랫폼 구성 및 부품 선정
  2.2 플랫폼 제작
   2.2.1 압력용기 제작
   2.2.2 압력용기 부품 구성
   2.2.3 압력용기 방수 성능
 3. 제어 시스템 설계
  3.1 제어시스템의 구성
  3.2 수중 이동체 자세제어
 4. 운동성능 검증
  4.1 운동성능 검증을 위한 실험 방법 및 환경
   4.1.1 자세유지 및 선회성능 실험 방법 및 환경
   4.1.2 조류 극복성능 실험 방법 및 환경
  4.2 실험 결과
   4.2.1 선회성능 실험 결과
   4.2.2 조류 극복 성능 실험 결과
   4.2.3 자세 유지 성능 실험 결과
  5. 결 론
  References

• 황동욱(Seoul National University of Science and Technology, Seoul, Korea) | Dongwook Hwang
• 장민규(Seoul National University of Science and Technology, Seoul, Korea) | Mingyu Jang
• 김진현(Mechanical Engineering, Seoul National University of Science and Technology, Seoul, Korea) | Jinhyun Kim Corresponding author