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2000 Fiscal Year Final Research Report Summary

Development of Roll Control System for a Towed Vehicle

Research Project

Project/Area Number 11555264
Research Category

Grant-in-Aid for Scientific Research (B).

Allocation TypeSingle-year Grants
Section展開研究
Research Field 海洋工学
Research InstitutionKyushu University

Principal Investigator

KOTERAYAMA Wataru  Kyushu University, Professor Research Institute for Applied Mechanics Professor, 応用力学研究所, 教授 (80038562)

Co-Investigator(Kenkyū-buntansha) KAJIWARA Hiroyuki  Graduate School of Engineering Professor, 工学研究院, 教授 (30114862)
NAKAMURA Masahiko  Research Institute for Applied Mechanics Ass. Professor, 応用力学研究所, 助教授 (40155859)
KATO Naomi  Tokai University, Department of Oceanography Professor, 海洋学部, 教授 (00138637)
YAMAMOTO Ikuo  Mitsubishi Heavy Industries Chief of the Section, 長崎研究所, 課長(主任研究員)
ISHII Kazuo  Kyushu Inst. of Technology, Faculty of Computer Science and Systems Engineering Ass. Professor, 情報工学部, 講師 (10291527)
YAMAGUCHI Satoru  Research Institute for Applied Mechanics Research Ass. (00253542)
Project Period (FY) 1999 – 2000
KeywordsTowed Vehicle / Roll Control / High Speed Towing / Independent Apparatus
Research Abstract

In this study, we developed a simple and high reliable roll control system for a towed vehicle. The operating depth is 0-200m, towing velocity 4-20 knots. The maximum roll moment is 1.8 U2kg-m, weight 40 kg and pressure hull is made of stainless steel.
A propeller fixed at the forepart rotates by the flow of sea water and generates the electric power. This provides electric power with electric devise and a motor for the control fins. The maximum allowable pressure for the vessel is 20 atm. The rear part fins rotates in asymmetric way and generates the roll control moment for a towed vehicle.
In the next to the dynamometer batteries are fixed, which regulate the voltage variations. A CPU is located next to the batteries. The roll and fin angle are recorded in this CPU, which control the fins. Next to the CPU a clinometers is fixed to measure the roll angle.
In this stage the roll of a towed vehicle is control by using this system because the needs for this is most popular and important but in future the pitch control is also possible. A motor driver and motor are set at the rear part. We are now carrying out the long time operation tests in the circulating water tunnel to verify the high endurance ability of the system and we also apply a patent for this system.

  • Research Products

    (7 results)

All Other

All Publications (7 results)

  • [Publications] 中村昌彦,小寺山亘,横引貴史: "曳航体「FLYING FISH」のH_∞コントローラーによる深度制御"西部造船会会報. 98. 135-150 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Yokobiki,W.Koterayama,S.Yamaguchi,M.Nakamura: "Dynamic and Control of a Towed Vehicle in Transient Mode"Int.J.of Offshore and Polar Engineering. Vol.10 No.1. 19-25 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] M.Nakamura,H.Kajiwara,W.Koterayama: "Development of an ROV Operated Both as Towed and Self-Propulsive Vehicle"Ocean Engineering. Vol.28. 1-43 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 横引貴史,山口悟,小寺山亘,中村昌彦: "曳航体「FLYING FISH」のH_∞コントローラーによる深度制御"九州大学大学院総合理工学報告. 第22巻第3号. 323-333 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] T.Yokobiki, W.Koterayama, S.Yamaguchi and M.Nakamura: "Dynamic and Control of a Towed Vehicle in Transient Mode"Int.J.of Offshore and Polar Engineering. Vol.10, No.1. 19-25 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Nakamura, H.Kajiwara and W.Koterayama: "Development of an ROV Operated Both as Towed and Self-Propulsive Vehicle"Ocean Engineering. Vol.28. 1-43 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Yokobiki, S.Yamaguchi, W.Koterayama and M.Nakamura: "Depth Control of Towed Vehicle "FLYING FISH" by H_∞ Controller"Engineering Sciences Reports, Kyushu Univ.. Vol.22, No.3. 323-333 (2000)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2002-03-26  

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