曳航体「FLYING FISH」のH∞コントローラーによる深度制御

概要

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A high speed towed vehicle “FLYING FISH” is being developed to measure chemical and physical properties of the ocean. The depth, pitch and roll of FLYING FISH are controlled by a main wing and horizontal tail wings. The roll control is based on the PID control method and the depth and pitch control are based on the LQI (linear quadratic with integral) control method. The LQI controller was designed in consideration of the mathematical model of the towing cable. The experimental results controlled by the LQI controller were successful around the near equilibrium point but it seems that the performance is reduced at far field. The reason is that towing tension is drastically changing with the submerged depth of the vehicle and the linear mathematical model of the towing cable changes from that of equilibrium point. In this paper, the ${\rm H}_\infty$ controller is designed in consideration of the change of the towing tension at the towing point versus submerged depth in order to improve the performance of the depth and pitch control. Some successful experimental results and simulated ones are shown.
2000-12-30