水中調査用自動潜水船の運動と制御に関する基礎的研究(第3報) : 運動特性と設計因子との関係)

概要

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In the previous paper, it has been clarified that motion characteristics of a submersible can be divided into idealized controllability, stability, response behavior, and control forces, and that the relationship between motion characteristics and design parameters are easily examined if a specification of the submersible design satisfies some conditions for improvement of idealized controllability. The present paper deals with the investigation of the relationship between design parameters and the motion characteristics in case that the theory of idealized controllability does not always hold. In order to obtain the physical relations the stability, the response behavior and the control forces are respectively analyzed with both eigenvalues and zeros of the characteristics equations of motion. Finally, the criterion to discriminate whether the idealized controllability is actually able to be satisfied or not, is discussed. Thus the authors believe that the designing method of a submersible with idealized controllability and motion stability is made clear.
社団法人日本船舶海洋工学会の論文