Development of CAD System for Control System of Autonomous Underwater Vehicle

自主水下航行器控制系统CAD系统开发

• 批准号: 08555250
• 负责人: KOTERAYAMA Wataru
• 金额: $ 7.94万
• 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: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08555250/
• 关键词: Underwater vehicle; Motion control system; Computer-Aided Control System Dsign; Underwater Vehicle; Control System Design; Ocean Measurement

Underwater vehicles have been widely used for ocean measurements and developments. The vehicles could be classified into two groups, self-propulsive and towed vehicles. In the case of towed vehicle, the body shape should be streamlined in order to move fast for wide area survey of the ocean or sea bottom. From the view point of the motion control the quick response is not required in the case of a towed vehicle because its motion is constrained by the mother ship. On the other hand, in the case of self-propulsive vehicle, the blunt shape is generally adopted to make it unstable from the viewpoint of hydrodynamics, and it is supposed to be stabilized in order to realize good maneuverability as a control system. There is also another possibility to reduce a number of thrusters using multivariable control theory. Therefore, CACSD (Computer-Aided Control System Design) technology is expexted to play'a great role in balancing between function of controller (software), in order to achieve th … More e desired performance of the control system. In CACSD,a nonlinear simulator is necessary to evaluate the control system designed. So it is inevitable to model the controlled object mathematically. In particular, we must estimate hydrodynamic coefficients by carrying out forced oscillating tests on the vehicle in a water tank. Here a problem occurs on the accuracy we should achieve in the experiment. That is, we should answer whether or not the uncertainties of hydrodynamic coefficients could be allowed from the viewpoint of CACSD based on robust control theory. If the answer is "no" , we will be required achieve higher accuracy in the estimation of hydrodynamic coefficients.The present research has been carried out in order to establish a standard design method of the control system as following steps. At first general mathematical models for the motions of the underwater vehicle have been constructed, which describes 6-degree freedom motions of vehicles and 3-dimensional motions of a towing cable or umbilical cable.Secondly the model has strong non-linearity and it is linearized automatically by using computer software. Next adequate control systems are designed based on modem control theory. Through these procedure a standard design method for the control system of an underwater vehicle has been established. Less

水下航行器已广泛用于海洋测量和开发。这些车辆可分为两类，自行推进车辆和牵引车辆。在拖曳式航行器的情况下，为了快速移动以进行海洋或海底的大面积调查，身体形状应该是流线型的。从运动控制的角度来看，在拖曳式车辆的情况下不需要快速响应，因为其运动受到母船的约束。另一方面，在自推进车辆的情况下，从流体动力学的观点来看，通常采用钝头形状以使其不稳定，并且为了实现作为控制系统的良好机动性，应该使其稳定。还存在使用多变量控制理论减少推进器数量的另一种可能性。因此，计算机辅助控制系统设计（CACSD）技术有望在控制器（软件）功能之间的平衡中发挥重要作用，以实现控制系统的可持续发展。 ...更多信息 控制系统的期望性能。在CACSD中，需要一个非线性仿真器来评估所设计的控制系统。因此，对被控对象进行数学建模是不可避免的。特别是，我们必须通过在水箱中对车辆进行强迫振荡试验来估计水动力系数。这里出现了一个问题，即我们在实验中应该达到的精度。也就是说，我们应该从基于鲁棒控制理论的CACSD的角度来回答水动力系数的不确定性是否可以被允许。如果答案是否定的，那么就要求在水动力系数的估算上达到更高的精度。本研究的目的是为了建立一个标准的控制系统设计方法。首先建立了描述水下航行器六自由度运动和拖缆、脐带缆三维运动的通用数学模型，然后利用计算机软件对该模型进行了自动线性化处理。其次，根据现代控制理论设计了合适的控制系统。通过这些过程，建立了水下机器人控制系统的标准设计方法。少

项目成果

H.Kajiwara, W.Koterayama, M.Nakamura and S.Yugawa: "LMI-Based Design of Robust Controllers for an Underwater Vehicle" Proc.of7^<th>Int. Offshore and Polar Engineering Conference. Vol.2. 51-56 (1997)

H.Kajiwara、W.Koterayama、M.Nakamura 和 S.Yukawa：“基于 LMI 的水下航行器鲁棒控制器设计”Proc.of7^<th>Int。

小寺山 亘、中村 昌彦: "広域海底探査用ビ-クル「DELTA」の開発研究" 九州大学 応用力学研究所所報. 82号. 1-29 (1997)

小寺山渡、中村正彦：《广域海底探测车“DELTA”的开发研究 九州大学应用力学研究所公报》第82.1-29号（1997年）

小寺山 亘、中村 昌彦、山口 悟: "海洋環境総合観測ロボット「Flying Fish」の開発について" 九州大学応用力学研究所所報. 80号. 49-69 (1996)

小寺山渡、中村正彦、山口悟：《海洋环境综合观测机器人“飞鱼”的开发》九州大学应用力学研究所公报。第80.49-69号（1996年）

W.Koterayama, S.Yamaguchi, M.Nakamura and T.Akamatsu: "Field Experiments on a Towed Vehicle "Flying Fish" for Physical and Chemical Measurement in the Upper Mixed Layr of the Ocean" Proc.of OCEANS'96. Vol.2. 1008-1013 (1996)

W.Koterayama、S.Yamaguchi、M.Nakamura 和 T.Akamatsu：“用于海洋上层混合层物理和化学测量的拖曳车“飞鱼”现场实验”Proc.of OCEANS96。

W.Koterayama,Hiroo Mizuoka,N.Takatsu,T.Ikebuchi: "Field Experiment and Numerical Prediction on Dynamics of a Light Floating Structure Moored in Deep Ocean" Proc.of 7th International Offshore and Polar Engineering Conference. (1997)

W.Koterayama，Hiroo Mizuoka，N.Takatsu，T.Ikebuchi：“深海轻型浮式结构动力学现场实验与数值预测”第七届国际近海与极地工程会议论文集。