Control system design of an ROV operated both as towed and self-propulsive vehicle

H. Kajiwara, W. Koterayama, M. Nakamura, H. Teradam, T. Morita

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

8 被引用数 (Scopus)

抄録

The paper presents a control system design of the ROV operated both as towed and self-propulsive vehicle, which is proposed by Kyushu Univ and named DELTA. First a nonlinear simulator of DELTA is discussed. In order to validate the nonlinear simulator developed, an experimental step response of DELTA is compared with nonlinear and linear simulation results when thruster inputs are increased 20% up. Next, an LQI control system for DELTA is discussed. A linear model of DELTA around an equilibrium point is obtained from the nonlinear simulator, in the form of state space representation with the 10 state variables, 2 input variables and 4 output variables. The possibility is investigated to control the depth and the course by equalized thrusters and differential thrusters respectively. Successful results of the designed control system are shown with simulations by connecting the linear controller with nonlinear simulator of DELTA.

本文言語英語
ホスト出版物のタイトルProceedings of the Third (1993) International Offshore and Polar Engineering Conference
出版社Publ by Int Soc of Offshore and Polar Engineerns (ISOPE)
ページ451-454
ページ数4
ISBN(印刷版)1880653079
出版ステータス出版済み - 1月 1 1993
イベントProceedings of the Third (1993) International Offshore and Polar Engineering Conference - Singapore, Singapore
継続期間: 6月 6 19936月 11 1993

出版物シリーズ

名前Proceedings of the Third (1993) International Offshore and Polar Engineering Conference

会議

会議Proceedings of the Third (1993) International Offshore and Polar Engineering Conference
CitySingapore, Singapore
Period6/6/936/11/93

!!!All Science Journal Classification (ASJC) codes

  • 工学(全般)

フィンガープリント

「Control system design of an ROV operated both as towed and self-propulsive vehicle」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル