Study on motion control of vehicle for sea bottom survey

海底调查车运动控制研究

• 批准号: 09305067
• 负责人: KOTERAYAMA Wataru
• 金额: $ 12.42万
• 依托单位: KYUSHU UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (A)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09305067/
• 关键词: Underwater vehicle; Motion control system; Computer-Aided Control System Design; 自立型海中ビークル; 海中探査; 模型; 制御試験; 自立型海中ロボット; 運動制御; 数値シミュレーション

In this study, an underwater vehicle named DELTA after its Δ-shape wing has been developed, what we call, an ROV (Remotely Operated Vehicle) in the field of offshore engineering. For the purpose of wide area survey of sea bottom, DELTA control system should be designed such that it can be operated both as a towed vehicle for fast movement and as a self-propulsive vehicle for good maneuverability. In general, the shape required for the two vehicles are quite different from each other form the viewpoint of hydrodynamics, that is, a streamlined shape for self-propulsive vehicle and a blunt shape for self-propulsive vehicle. Therefore it is very interesting to design the DELTA control system which works very well as the two functional vehicles.DELTA has three actuators consisting of right thruster, left thruster, weight shifter, and four sensors mode with higher speed, a control purpose is to keep the depth at the specified level against towing speed variations and mother ship oscillations … More . We tried H∝ feedback control for using the weight shift mechanism against towing speed variations.On the other hand, in the self-propulsive mode, a control purpose to facilitate precise and good maneuverability against the towing cable effect. We obtained successful experimental results for linear running a water tank using LQG multivariable feedback control with integral action. It was shown that equalized thrusters and differential thruster could control longitudinal behavior and lateral-directional behavior respectively. However in the case of nonlinear running, for example, collision avoidance the LQG control system will not work very well because of large parameter variations due to rapid speed variation and strong water current. In addition, there is another problem that the towing cable disturbs DELTA's attitude when DELTA is going around. These problems should be solved by robust controllers, in particular, gain-scheduling controllers. The latter problem also seems to be formulated as a nonholonomic control system which is a hot issue in the fields of robotics and nonlinear control. Less

在本研究中，以其Δ形机翼命名的水下机器人Delta在近海工程领域被称为ROV(遥控潜水器)。为了对海底进行大面积测量，Delta控制系统的设计应使其既能作为拖车快速移动，又能作为自行车运行，以保证良好的机动性。一般来说，从流体力学的观点来看，这两种飞行器的外形要求是不同的，即自行式飞行器的流线型外形和自行式飞行器的钝型外形。DELTA有三个执行器，包括右推进器、左推进器、重量移位器和四个传感器模式，速度更快，控制目的是将深度保持在指定的水平上，以对抗拖曳速度变化和母船振荡…更多。我们尝试了H∝反馈控制，利用重量转移机制来对抗拖曳速度的变化。另一方面，在自航模式下，控制目的是为了便于精确和良好的机动性来对抗拖缆效应。利用带积分作用的LQG多变量反馈控制，成功地实现了水箱的线性运行。结果表明，均衡式推进器和差动推进器可以分别控制纵向行为和横向行为。然而，在非线性运行的情况下，例如防撞，LQG控制系统将不能很好地工作，因为由于速度的快速变化和强大的水流导致的参数变化很大。此外，还有一个问题是，拖缆干扰了达美航空在绕飞时的态度。这些问题需要通过鲁棒控制器，特别是增益调度控制器来解决。后者似乎也被描述为一个非完整控制系统，这是机器人学和非线性控制领域的一个热点问题。较少

项目成果

W.Koterayama and M.Nakamura: "Development of "DELTA" an Underwater Vehicle for Ocean Bottom Survey"Bulletin of Research Institute for Applied Mechanics, Kyushu Univ.. vol. 82. 1-29 (1997)

W.Koterayama和M.Nakamura：“用于海底调查的水下航行器“DELTA”的开发”九州大学应用力学研究所通报。

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号. 135-150 (1999)

Masahiko Nakamura、Wataru Koterayama、Takashi Yokobiki：“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第 98 期。135-150（1999 年）。

W. Koterayama, n. Yamawaki, T. Yokobiki, H. Ohe: "Prediction of Towing Cable Tension and Comparision with Field Experiment"Hydroelasticity'98. 293-300 (1998)

W.小寺山，n.

M.Nakamura, W.Koterayama and T.Yokobiki: "Depth Control of Towed Vehicle "FLYING FISH" by H∝"Transactions of The West-Japan Society of Naval Architects. No. 98. 135-150 (1999)

M.Nakamura、W.Koterayama 和 T.Yokobiki：“H∝ 的拖曳车辆“飞鱼”的深度控制”西日本造船学会汇刊第 98. 135-150 (1999)。

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号. 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”，西方造船学会公报第 98 期。135-150（1999 年）。