三次元自動操縦制御機能を有した無人潜水機の開発

概要

論文の詳細を見る
The tethered Remotely Operated Vehicle (ROV) has recently come to have the potential to tolerably perform as the underwater surveyor or work vessel in the slowest current. In the offshore current, however, it is very difficult to accurately control it's position and attitude only by the operator's maneuver for its various motions caused by current, reaction of the manipulator, drag force of tether cable, etc.; unless any adequate automatic maneuvering system is developed, ROV cannot be put to practical use at an underwater work site. By using the dynamic position control technique, we have developed a precise 3-demensioal automatic maneuvering ROV which is greately improved in the capability. The control system is based on the dual closed loops of feedback control, that is rate control and position control, besides feedforward control is applied for attitude adjustment. The 3-dimensional graphic display to give a visual information has been also developed and arranged on operator's console. This ROV was tested in the Osaka bay. The results indicated its excellent performance in the automatic maneuvering including hovering, translation and manual override control modes. This paper describes the systcm configuration of the maneuvering system, and some of the test results.
社団法人日本船舶海洋工学会の論文
1990-03-25