长缆牵引车辆运动控制方法的研制

Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 1900-01-01 DOI:10.1109/UT.2000.852593

S. Yamaguchi, W. Koterayama, T. Yokobiki

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引用次数: 9

摘要

一辆名为“飞鱼”的拖曳车已被开发用于海洋观测。观测中使用的长拖曳索的运动是拖曳系统的主导运动，因此必须确定拖曳索的精确数学模型。基于索运动方程的有限个数特征函数，设计了一种基于索运动数学模型的运动控制器。数值模拟结果与集总质量法的结果进行了比较，表明索的瞬态运动特性取决于数学模型所采用的方法。通过现场实验验证了所设计的运动控制器的有效性。

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

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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Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)

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