TY - GEN
T1 - Development of a motion control method for a towed vehicle with a long cable
AU - Yamaguchi, S.
AU - Koterayama, W.
AU - Yokobiki, T.
N1 - Publisher Copyright:
© 2000 IEEE.
PY - 2000
Y1 - 2000
N2 - 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.
AB - 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.
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U2 - 10.1109/UT.2000.852593
DO - 10.1109/UT.2000.852593
M3 - Conference contribution
AN - SCOPUS:33846621264
T3 - Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000
SP - 491
EP - 496
BT - Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Symposium on Underwater Technology, UT 2000
Y2 - 23 May 2000 through 26 May 2000
ER -