海中柔軟構造物のアクティブ制御による設置・組立に関する基礎的検討

概要

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This paper examines application of active control technique to underwater installation as a new approach instead of the present method using crane vessels. In this paper, two kinds of active control problems are examined. The one problem is how to control a flexible structure on tracking the given trajectory or precise positioning on the operation of installation, not stimulating its elastic responses. The other is how to control a rigid body structure on tracking the given trajectory or precise positioning under the existence of unknown current. The structural flexibility imposes problems of suppressing elastic responses and securing stability of control system. In this paper. H^∞ controller combined with LAC/HAC feedback controller is designed for the case that the structural flexibility exists. When unknown current exists, the dynamical effect of the current must be compensated somehow. This paper presents learning trajectory tracking control when a structure is transported repeatedly along the objective trajectory.In order to confirm the control algorithm and verify the possibility of active control installation method, basin tests are executed using a neutrally buoyant flexible model with ultrasound ranging system and thrusters.
社団法人日本船舶海洋工学会の論文