海洋観測用曳航体の開発研究 : 第一報曳航体の運動と制御について

概要

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For a preliminaly design of a depth and roll controllable towed vehicle for ocean measure-ments, three dimensional numerical simulation techniques for calculating motions of a towed vehicle and towing cable are developed. The hydrodynamic coefficients of the towed vehicle and towing cable used in calculations are obtained from experiments in a circulating water tank. The towed vehicle is developed to house a CTD (Conductivity, water temperature and depth) sensor and an acoustic doppler current profiler. The CTD sensor needs the accurate depth control and the current profiler demands a high level of stability in pitch and roll of the towed vehicle. In the design of the towing system and towed vehicle, the special atten-sions are paid to meet these requirements. The angles of main wings and horizontal tails are under feedback control in order to maintain operation depth and roll stability. The re-sults of numerical simulations confirm the good performance of the system.
社団法人日本船舶海洋工学会の論文