海洋観測用曳航体の開発研究 : 第2報, 曳航体の構造と実海域実験

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DRAKE (Depth and Roll Adjustable Kite for measuring Energy flux of the Kuroshio) is a towed vehicle developed to carry an acoustic doppler current profiler and CTD sensor (Conductibity-, temperature- and depth-sensor) . The current profiler demands a high level of stability in pitch, roll and heave of the towed vehicle, so that the main wings and the tail wings are controlled automatically to maintain the submerged depth and roll stability. In the previous report the authors discussed a simulation technique for estimating motions of the towed vehicle and cable. In this paper the structure of the towed vehicle DRAKE and the performance confirmed by experi-ments on the observation line across the Kuroshio are described. In the experiments, four kinds of tests are carried out. The first one is the towing test for investigating the static characteristics of DRAKE, such as the main wing angle, trim angle and cable tension versus a command depth. The second one is the steady towing test for the study of the stability of motions of DRAKE when the mother ship is advancing in irregular waves. The third one is the depth change test for the study of the stability of DRAKE in transient motions. The fourth one is the turning test holding a constant depth controlled by automatically produced command sigual. These experiments indicated that the performance obtained in experiments are in good agreements with those of theoretical estimations obtained by the previous report.
社団法人日本船舶海洋工学会の論文

海洋観測用曳航体の開発研究 : 第2報, 曳航体の構造と実海域実験

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