Stabilization Control of a System of Pipe-String for Mining Manganese nodules

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It is of great importance for Japan to develop the technology mining mineral resources form deep sea bottoms. For mining these resources, a long pipe-string is needed to connect the fowing ship on the sea surface with the collector or miner on the sea floor. The towing ship may undergo a heaving motino due to the influences of winds, waves, sea currents and so on. This heaving motion of the ship may not only cause the pipe string suspended from the ship to excite vertically and horizontally the pipe string. Hence the stabilization control of the pipe string is an important problem for the technology development.In this stucy, the transverse vibration of a long pipe string was suppressed by means of the longtudinally controlled vibration. The pipe string was modelled by single, double and elastic pendulums, Their supporting points were moved vertically on a linear way by using a timing a belt, two pulleys and a servomotor. On the basic of the Fuzzy and PID control rules, the vibration was suppressed effectielyin the simulation and experiment. This result showed that this method can be supplied to the suppression of transverse vibration of the pipe string.Furthermore, the active vibration control of a cantilever pipe conveying fluid, which is hung vertically was studied. The flow-induced vibration, I.E., flutter of the pipe was controlled by the torque produced by two pairs of tendons attached to the pipe and two servomotors.The vibration control of single and double pendulums was carried out by means of gas jet actuator, too.These results showed that the tendon and gas jet actuators can be also applied to the vibration suppression of the pipe string.