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 language | English |
|---|---|
| Title of host publication | Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 |
| Pages | 213-220 |
| Number of pages | 8 |
| Publication status | Published - Dec 1 2006 |
| Event | 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, United States Duration: May 28 2006 → Jun 2 2006 |
Publication series
| Name | Proceedings of the International Offshore and Polar Engineering Conference |
|---|---|
| ISSN (Print) | 1098-6189 |
| ISSN (Electronic) | 1555-1792 |
Other
| Other | 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 |
|---|---|
| Country | United States |
| City | San Francisco, CA |
| Period | 5/28/06 → 6/2/06 |
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All Science Journal Classification (ASJC) codes
- Energy Engineering and Power Technology
- Ocean Engineering
- Mechanical Engineering
Cite this
Control of heading angle of launcher of deep sea exploration unmanned underwater vehicle "KAIKO". / Nakamura, Masahiko; Koterayama, Wataru; Yamamoto, Ikuo; Hyakudome, Tadahiro; Aoki, Taro.
Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006. 2006. p. 213-220 (Proceedings of the International Offshore and Polar Engineering Conference).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Control of heading angle of launcher of deep sea exploration unmanned underwater vehicle "KAIKO"
AU - Nakamura, Masahiko
AU - Koterayama, Wataru
AU - Yamamoto, Ikuo
AU - Hyakudome, Tadahiro
AU - Aoki, Taro
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36749008435&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36749008435&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:36749008435
SN - 1880653664
SN - 9781880653661
T3 - Proceedings of the International Offshore and Polar Engineering Conference
SP - 213
EP - 220
BT - Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
ER -