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)开发了海洋中复杂水流作用下柔性长缆三维特性仿真程序，可以准确模拟其非线性特性。计算结果与实验结果吻合较好。2)提出了一种研究船舶、柔性长缆和水下拖曳器（机器人）系统动态稳定性的理论。在斜拉索横向挠度和张力沿斜拉索缓慢变化的假设下，采用WKB方法求解斜拉索的振动方程，研究了机器人对控制面的稳定性。3)我们模拟了主要由海洋内波引起的所谓统计波动，并开发了一个模拟程序，通过操纵拖船将水下机器人引导到指定位置。该仿真程序包含了本项目所获得的所有结果。仿真结果表明，在复杂的海流环境下，需要更先进的船舶控制技术来实现更精确的机器人导航。4)研究了拖曳机器人完美导引至指定位置的终点控制理论，为拖船的机动改进提供了理论依据。

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