Dynamics and control of a towed vehicle in transient mode

Takashi Yokobiki, Wataru Koterayama, Satoru Yamaguchi, Masahiko Nakamura

研究成果: ジャーナルへの寄稿学術誌査読

11 被引用数 (Scopus)

抄録

The dynamics and control of a lowed vehicle when it changes depth and course were studied theoretically and experimentally. A mathematical model of motions of the vehicle is described in 6-degree-freedom motion equations and that of the towing cable is done using the lumped mass model. Control systems based on an optimal control theory (LQI synthesis) were developed to control the vehicle safely during the depth change. In the course change experiment the PID controller was used. The performance of the controller and the accuracy of the mathematical model of motions have been evaluated by field experiments. The towing tension was also measured in field experiments to confirm the safety of the towing cable.

本文言語英語
ページ(範囲)19-25
ページ数7
ジャーナルInternational Journal of Offshore and Polar Engineering
10
1
出版ステータス出版済み - 2000

!!!All Science Journal Classification (ASJC) codes

  • 土木構造工学
  • 海洋工学
  • 機械工学

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