| Project/Area Number |
08555250
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (A)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 展開研究 |
|---|
| Research Field |
海洋工学
|
|---|
| Research Institution | Kyushu University |
|---|
Principal Investigator |
KOTERAYAMA Wataru Kyushu University, Research Institute for Applied Mechanics, Professor, 応用力学研究所, 教授 (80038562)
|
|---|
| Co-Investigator(Kenkyū-buntansha) |
YAMAMOTO Ikuo Mitsubishi Heavy Industries, the chief of the section, 長崎研究所, 課長(主任研究員)
TACHIBANA Takeshi Kyushu Institute of Technology, Faculty of Engineering, Assistant Professor, 工学部, 助教授 (50179719)
KAJIWARA Hiroyuki Kyushu Institute of Technology, Faculty of Information Science and Systms Engine, 情報工学部, 助教授 (30114862)
SAKURAI Akira Kyushu University, Faculty of Engineering, Professor, 工学部, 教授 (80037952)
KIJIMA Katsurou Kyushu University, Faculty of Engineering, Professor, 工学部, 教授 (90038042)
|
|---|
| Project Period (FY) |
1996 – 1997
|
| Project Status |
Completed (Fiscal Year 1997)
|
| Budget Amount *help |
¥12,400,000 (Direct Cost: ¥12,400,000)
Fiscal Year 1997: ¥5,800,000 (Direct Cost: ¥5,800,000)
Fiscal Year 1996: ¥6,600,000 (Direct Cost: ¥6,600,000)
|
|---|
| Keywords | Underwater vehicle / Motion control system / Computer-Aided Control System Dsign / Underwater Vehicle / Control System Design / Ocean Measurement |
|---|
| Research Abstract |
Underwater vehicles have been widely used for ocean measurements and developments. The vehicles could be classified into two groups, self-propulsive and towed vehicles. In the case of towed vehicle, the body shape should be streamlined in order to move fast for wide area survey of the ocean or sea bottom. From the view point of the motion control the quick response is not required in the case of a towed vehicle because its motion is constrained by the mother ship. On the other hand, in the case of self-propulsive vehicle, the blunt shape is generally adopted to make it unstable from the viewpoint of hydrodynamics, and it is supposed to be stabilized in order to realize good maneuverability as a control system. There is also another possibility to reduce a number of thrusters using multivariable control theory. Therefore, CACSD (Computer-Aided Control System Design) technology is expexted to play'a great role in balancing between function of controller (software), in order to achieve th
… More
e desired performance of the control system. In CACSD,a nonlinear simulator is necessary to evaluate the control system designed. So it is inevitable to model the controlled object mathematically. In particular, we must estimate hydrodynamic coefficients by carrying out forced oscillating tests on the vehicle in a water tank. Here a problem occurs on the accuracy we should achieve in the experiment. That is, we should answer whether or not the uncertainties of hydrodynamic coefficients could be allowed from the viewpoint of CACSD based on robust control theory. If the answer is "no" , we will be required achieve higher accuracy in the estimation of hydrodynamic coefficients.
The present research has been carried out in order to establish a standard design method of the control system as following steps. At first general mathematical models for the motions of the underwater vehicle have been constructed, which describes 6-degree freedom motions of vehicles and 3-dimensional motions of a towing cable or umbilical cable.
Secondly the model has strong non-linearity and it is linearized automatically by using computer software. Next adequate control systems are designed based on modem control theory. Through these procedure a standard design method for the control system of an underwater vehicle has been established. Less
|
