Control of the Position of an Underwate Towed Robot

水下拖曳机器人的位置控制

• 批准号: 63302039
• 负责人: KASHIWAGI Masashi
• 金额: $ 5.57万
• 依托单位: Kyushu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Co-operative Research (A)
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-63302039/
• 关键词: Towed robot; Position control; Long cable; 曳船ロボット; 位置誘導; 長大ケーブル; 曵航船舶; シミュレーション

1) A simulation program was developed of three-dimensional behavior of a long flexible cable under the influence of complex flow in the ocean, by which nonlinear behaviors can be accurately simulated. We confirmed a good agreement exists between computations and experiments.2) A theory for investigating the dynamic stability of a system composed of ship, long flexible cable, and underwater towed vehicle (robot) was developed. Under the assumption that the transverse deflection and tension are slowly varying along the cable, an equation of the vibration of cable was solved with WKB method, and the stability of a robot to the action of a control surface was investigated.3) We simulated the so-called statistical fluctuation due mainly to the internal waves in the ocean, and developed a simulation program in which an underwater robot is supposed to be guided to a specified position by maneuvering a towing ship. This simulation program involves all the results obtained in this project. Simulation results revealed that more advarfced ship control is necessary for a more accurate guidance of a robot, especially when the ocean flow is complicated.4) A theory of end-point control was investigated for the perfect guidance of a towed robot to a specified position, which can be used for the improvement in how to maneuver a towing ship.

1）在海洋中复杂流动的影响下开发了长柔性电缆的三维行为的模拟程序，可以通过该行为准确地模拟非线性行为。我们证实了计算和实验之间存在良好的协议。2）一种研究由船舶，长柔性电缆和水下拖曳车辆（机器人）组成的系统的动态稳定性的理论。在假设横向偏转和张力沿电缆逐渐变化的假设下，用WKB方法求解了电缆振动的方程，并且研究了机器人对控制表面的作用的稳定性。3）我们模拟了所谓的统计统计波动，主要是通过在海洋中进行的，并在海洋中开发了一个型号的统计波动，并在海洋中开发了造成的型号，该统计是在海洋中，并在海洋中开发了WOT WAS，并在海洋中开发了WOT WAS，并在海洋上进行了Way Wod，并进行了WATED ROBOT，该机器人是在海洋上进行的。操纵牵引船。该仿真程序涉及该项目中获得的所有结果。仿真结果表明，更准确的机器人指导是必要的，尤其是当海洋流动复杂时。

项目成果

柏木正、大楠丹: "海中における曳航ロボットの位置誘導" 日本造船学会.

Tadashi Kashiwagi、Tan Okusunoki：“海上拖曳机器人的位置引导”日本造船学会。

柏木正,大楠丹: "海中における曳航ロボットの位置誘導" 日本造船学会論文集.

Tadashi Kashiwagi、Tan Ohkusu：“海上拖曳机器人的位置引导”日本造船学会论文集。

Kashiwagi Masashi & Ohkusu Makoto: "Control of the Position of an Underwater Towed Vehicle" Journal of the Society of Naval Architects of Japan.

柏木正志