Development of a motion control method for a towed vehicle with a long cable

S. Yamaguchi, W. Koterayama, T. Yokobiki

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

6 被引用数 (Scopus)

抄録

A towed vehicle "Flying Fish" has been developed for ocean observations. The motion of the long towing cable used in the observations is the dominant motion of the towing system, so that an accurate mathematical model of the towing cable must be determined. A design for a motion controller using a mathematical model of the cable motion based on a finite number of eigenfunctions of the cable motion equation is developed for the vehicle. Results of numerical simulation were compared with results from a lumped mass method and it was shown that the transient characteristic of the cable motion depends on the method used for the mathematical model. The designed motion controller was tested in field experiments and its efficiency was confirmed.

本文言語英語
ホスト出版物のタイトルProceedings of the 2000 International Symposium on Underwater Technology, UT 2000
出版社Institute of Electrical and Electronics Engineers Inc.
ページ491-496
ページ数6
ISBN(電子版)0780363787, 9780780363786
DOI
出版ステータス出版済み - 2000
外部発表はい
イベント2nd International Symposium on Underwater Technology, UT 2000 - Tokyo, 日本
継続期間: 5 23 20005 26 2000

出版物シリーズ

名前Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000

その他

その他2nd International Symposium on Underwater Technology, UT 2000
Country日本
CityTokyo
Period5/23/005/26/00

All Science Journal Classification (ASJC) codes

  • Computational Theory and Mathematics
  • Automotive Engineering
  • Ocean Engineering
  • Instrumentation

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