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

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

研究成果: 著書/レポートタイプへの貢献会議での発言

抄録

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.

元の言語英語
ホスト出版物のタイトルProceedings of The Sixteenth 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
ページ213-220
ページ数8
出版物ステータス出版済み - 12 1 2006
イベント16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006 - San Francisco, CA, 米国
継続期間: 5 28 20066 2 2006

出版物シリーズ

名前Proceedings of the International Offshore and Polar Engineering Conference
ISSN(印刷物)1098-6189
ISSN(電子版)1555-1792

その他

その他16th 2006 International Offshore and Polar Engineering Conference, ISOPE 2006
米国
San Francisco, CA
期間5/28/066/2/06

Fingerprint

Catapults (aircraft launchers)
Controllers
Ships
Cables
Hydrodynamics
Experiments
Unmanned underwater vehicles

All Science Journal Classification (ASJC) codes

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

これを引用

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". : 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).

研究成果: 著書/レポートタイプへの貢献会議での発言

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". : 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, 米国, 5/28/06.
Nakamura M, Koterayama W, Yamamoto I, Hyakudome T, Aoki T. 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. p. 213-220. (Proceedings of the International Offshore and Polar Engineering Conference).
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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