Development of Autonomous Underwater Vehicle for Investigation of Marine Environment

• Project/Area Number: 12555281
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 展開研究
• Research Field: 海洋工学
• Research Institution: Kyushu University
• Principal Investigator: NAKAMURA Masahiko Kyushu Univ., Research Institute for Applied Mechanics, Ass. Prof., 応用力学研究所, 助教授 (40155859)
• Co-Investigator(Kenkyū-buntansha): ODA Hiroyuki Akishima Laboratories (Mitsui Zosen) Inc., Dynamics & Control Engineering, Deputy General Manager, 制御エンジニアリング部, 副部長(研究職) ; KAJIWARA Hiroyuki Kyushu Univ., Faculty of Engineering, Prof., 工学研究所, 教授 (30114862) ; KOTERAYAMA Wataru Kyushu Univ., Research Institute for Applied Mechanics, Prof., 応用力学研究所, 教授 (80038562) ; 山本 郁夫 三菱重工業(株), 長崎研究所, 課長(研究職)
• Project Period (FY): 2000 – 2002
• Project Status: Completed (Fiscal Year 2002)
• Budget Amount: ¥13,300,000 (Direct Cost: ¥13,300,000); Fiscal Year 2002: ¥1,900,000 (Direct Cost: ¥1,900,000); Fiscal Year 2001: ¥4,500,000 (Direct Cost: ¥4,500,000); Fiscal Year 2000: ¥6,900,000 (Direct Cost: ¥6,900,000)
• Keywords: Underwater vehicle / Position control / Motion control / AUV / Thruster / Horizontal tail wing / Hydrodynamic coefficients / Equation of motion

Research Abstract

An AUV which could be operated both as a cruising type and an exact automatic position control type vehicle would be most advantageous for ocean measurement. But it is difficult for an AUV to have both these functions, because the hydrodynamic characteristics and control method required for the two types of vehicle differ greatly. A quarter size model vehicle named "Diving Beetle" was developed for this study. The principal dimensions are; length:1.2m, width:0.7m, height :0.24m, weight in air:40kg. The vehicle has 6 thrusters and 2 horizontal tail wings to control the motion. The vehicle is used only in the ocean engineering tank (L:65m, B:5m, D:7m) to study motion control. If communication between the vehicle and a personal computer were possible in real time, we could set the PC in the laboratory on the towing carriage of the tank. This system could reduce the volume, weight and battery power of the vehicle. Moreover, in this system, it would be very easy to change the PC system (PCs are evolving daily.). "Diving Beetle" communicates with the PC using a digital proportional radio control system of a model aircraft.
The experiments to measure the hydrodynamic coefficients of the vehicle were carried out in the ocean engineering tank, and the equation of motion was constructed. This equation was used for the design of the controller and motion simulation.
The model based controller, gain scheduled controller and neural Network controller were studied to control the motion of the vehicle.

Research Products

• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System with Steerable Thruster"Proc. of the 11^<th> Int. Offshore and Polar Engineering Conference. Vol.1. 398-405 (2001)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System using Gain Scheduled Controller"Int. Journal of Offshore and Polar Engineering. Vol.11,No.4. 267-272 (2001)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] 矢形 孝平, 梶原 宏之 et al.: "LPV制御理論に基づくビークルの運動性能向上に関する研究"西部造船会会報. 第102号. 299-308 (2001)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] M.Nakamura et al.: ""Diving Beetle"-Testbed for ALTV Control Development"Proc. of the 5^<th> ISOPE Pacific/Asia Offshore Mechanics Symposium. 36-42 (2002)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] G.Rui, H.Kajiwara et al.: "Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques"Proc. of the 12^<th> Int. Offshore and Polar Engineering Conference. Vol.2. 301-306 (2002)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System using Neural Network Controller"Proc. of the 13^<th> Int. Offshore and Polar Engineering Conference. (in press). (2003)
  • Description: 「研究成果報告書概要(和文)」より
• [Publications] M. Nakamura et al.: "Model Experiments on Dynamic Positioning System with Steerable Thruster"Proc. of the 11th Int. Offshore and Polar Engineering Conference. Vol.1. 398-405 (2001)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] M. Nakamura et al.: "Model Experiments on Dynamic Positioning System using Gain Scheduled Controller"Int. Journal of Offshore and Polar Engineering. Vol.11, No.4. 267-272 (2001)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] K. Yakata, H. Kajiwara et al.: "On Improving Vehicle Movability on LPV-Control Theory"Transactions of the West-Japan Society of Naval Architects. 102. 299-308 (2001)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] M. Nakamura et al.: ""Diving Beetle" - Testbed for AUV Control Development"Proc. of the 5th ISOPE Pacific/Asia Offshore Mechanics Symposium. 36-42 (2002)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] G. Rui, H- Kajiwara et al.: "Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques"Proc. of the 12th Int. Offshore and Polar Engineering Conference. Vol.2. 301-306 (2002)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] M. Nakamura et al.: "Model Experiments on Dynamic Positioning System using Neural Network Controller"Proc. of the 13th Int. Offshore and Polar Engineering Conference. in press. (2003)
  • Description: 「研究成果報告書概要(欧文)」より
• [Publications] M.Nakamura et al.: ""Diving Beetle"-Testbed for AUV Control Development"Proc. of the 5^<th> ISOPE Pacific/Asia Offshore Mechanics Symposium. 36-42 (2002)
• [Publications] G.Rui, H.Kajiwara et al.: "Depth Control of An Underwater Vehicle Using Linear Parameter-Varying Techniques"Proc. of the 12^<th> Int. Offshore and Polar Engineering Conference. Vol.2. 301-306 (2002)
• [Publications] 矢形 孝平, 梶原 宏之 et al.: "LPV制御理論に基づくビーグルの運動性能向上に関する研究(第2報:流体力係数の不確かさを考慮した水中ビークルDELTAのロバスト制御)"西部造船会会報. 第104号. 155-163 (2002)
• [Publications] G.Rui, H.Kajiwara et al.: "Gain-Scheduled Control of an Underwater Vehicle Using Quasi-LPV Techniques"Proc. of the 5^<th> ISOPE Pacific/Asia Offshore Mechanics Symposium. 198-115 (2002)
• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System using Neural Network Controller"Proc. of the 13^<th> Int. Offshore and Polar Engineering Conference. (in press). (2003)
• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System with Steerable Thruster"Proc. of the 11^<th> Int. Offshore and Polar Engineering Conference. Vol.1. 398-405 (2001)
• [Publications] M.Nakamura et al.: "Model Experiments on Dynamic Positioning System using Gain Scheduled Controller"Int. Journal of Offshore and Polar Engineering. Vol.11, No.4. 267-272 (2001)
• [Publications] 矢形孝平, 梶原宏之 et al.: "LPV制御理論に基づくビークルの運動性能向上に関する研究"西部造船会会報. 第102号. 299-308 (2001)
• [Publications] G.Rui, H.Kajiwara et al.: "Simulation Study on LPV control of an Underwater Vehicle"Proc. of 第30回制御理論シンポジウム. 111-116 (2001)
• [Publications] 中村昌彦: "Development of an ROV Operated both as Towed and Self-propulsive Vehicle"Ocean Engineering. Vol.28. 1-43 (2000)
• [Publications] 中村昌彦: "波浪中の浮体式海洋構造物の位置制御に関する研究(その3 首振り型スラスターによる位置制御)"西部造船会会報. 101(in press). (2001)