Development of Roll Control System for a Towed Vehicle

牵引车侧倾控制系统的开发

• 批准号: 11555264
• 负责人: KOTERAYAMA Wataru
• 金额: $ 5.7万
• 依托单位: Kyushu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11555264/
• 关键词: Towed Vehicle; Roll Control; High Speed Towing; Independent Apparatus

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.

在本研究中，我们开发了一种简单、高可靠性的牵引车辆侧倾控制系统。操作深度0-200米，拖曳速度4-20节。最大滚转力矩1.8 U2kg-m，重量40 kg，耐压外壳采用不锈钢制造。固定在前部的螺旋桨依靠海水的流动而旋转并产生电力。这提供电力与电力装置和电机的控制鳍。容器的最大允许压力为20atm。尾翼以非对称方式旋转，产生牵引车辆的侧倾控制力矩。在旁边的测功机电池是固定的，它调节电压变化。CPU位于电池旁边。横摇和鳍角被记录在CPU中，CPU控制鳍。在CPU旁边有一个测斜仪，用来测量滚转角。在这个阶段，拖曳车辆的滚动是通过使用这个系统来控制的，因为这是最受欢迎和重要的需求，但在未来，俯仰控制也是可能的。电机驱动器和电机设置在后部。目前我们正在循环水隧洞进行长时间运行试验，验证系统的高耐久能力，并为该系统申请了专利。

项目成果

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)

M.Nakamura、H.Kajiwara 和 W.Koteayama：“开发同时作为拖曳和自推进式车辆运行的 ROV”海洋工程。

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)

Masahiko Nakamura、Wataru Koterayama 和 Takashi Yokohiki：“使用拖曳体“FLYING FISH”的 H_∞ 控制器进行深度控制”西方造船师协会通报 98. 135-150 (1999)。

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)

Takashi Yokobiki、Satoru Yamaguchi、Wataru Koderayama、Masahiko Nakamura：“使用拖曳体“FLYING FISH”的 H_∞ 控制器进行深度控制”九州大学研究生院理工学研究报告第 22 卷第 323 期。 333 (2000)

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)

T.Yokobiki，W.Koterayama，S.Yamaguchi，M.Nakamura：“瞬态模式下拖曳车辆的动力学和控制”Int.J.of Offshore and Polar Engineering。

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)

M.Nakamura、H.Kajiwara、W.Koteayama：“开发兼具拖曳和自推进功能的 ROV”海洋工程。