Control of heading angle of launcher of deep sea exploration unmanned underwater vehicle "KAIKO"

Masahiko Nakamura, Wataru Koterayama, Ikuo Yamamoto, Tadahiro Hyakudome, Taro Aoki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper is concerned with a simulation of motions of the launcher of a deep sea exploration unmanned underwater vehicle "KAIKO" to determine the power of the thruster required to control the heading angle. The thruster is installed between the two vertical tail wings of the launcher. The motions of the primary cable between the launcher and the mother ship are described by a 3-D lumped mass method, and the motions of the launcher are expressed by 3-D freedom equations noting that roll, pitch and heave motion are small. Hydrodynamic coefficients of the launcher obtained by the model experiments were used for the simulations. The motions of the launcher controlled by a PID controller in a current and the effect of the controller on periodic disturbance are shown.

Original languageEnglish
Title of host publicationProceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
Pages213-220
Number of pages8
Publication statusPublished - Dec 1 2006
Event16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, United States
Duration: May 28 2006Jun 2 2006

Publication series

NameProceedings of the International Offshore and Polar Engineering Conference
ISSN (Print)1098-6189
ISSN (Electronic)1555-1792

Other

Other16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
CountryUnited States
CitySan Francisco, CA
Period5/28/066/2/06

All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Ocean Engineering
  • Mechanical Engineering

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  • Cite this

    Nakamura, M., Koterayama, W., Yamamoto, I., Hyakudome, T., & Aoki, T. (2006). Control of heading angle of launcher of deep sea exploration unmanned underwater vehicle "KAIKO". In Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 (pp. 213-220). (Proceedings of the International Offshore and Polar Engineering Conference).