Development of Roll Control System for a Towed Vehicle

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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.