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

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

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

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

Division of Earth Environment Dynamics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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 - 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/Territory	United States
City	San Francisco, CA
Period	5/28/06 → 6/2/06

All Science Journal Classification (ASJC) codes

Energy Engineering and Power Technology
Ocean Engineering
Mechanical Engineering

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).

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

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. Proceedings of the International Offshore and Polar Engineering Conference, pp. 213-220, 16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006, San Francisco, CA, United States, 5/28/06.

Nakamura, Masahiko ; Koterayama, Wataru ; Yamamoto, Ikuo ; Hyakudome, Tadahiro ; Aoki, Taro. / Control of heading angle of launcher of deep sea exploration unmanned underwater vehicle "KAIKO". Proceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006. 2006. pp. 213-220 (Proceedings of the International Offshore and Polar Engineering Conference).

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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.

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

Abstract

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All Science Journal Classification (ASJC) codes

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