小型計算装置を用いた翼状航行型潜水艇のシミュレーション

概要

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For analysis and design of control systems for three dimensional vehicles such as aircrafts or under-water vehicles, analysis and evaluation by simulation study is quite effective for the motion of such vehicles becomes difficult to understand intuitively by nonlinear dynamics with three dimensional rotation. Although Simulation tools for such 3-D vehicles are already realized in various fields, those systems utilize powerful host computers with sophisticated displays and man-machine interfaces to realize the real time computation of dynamics with high degrees of freedom as well as realistic training conditions. In this study, authors realized a simple simulation and analyzing system for an autonomous underwater vehicle using conventional workstations and/or personal computers with ordinary periferals. By this sytem, a guidance and control system for the vehicle is studied to investigate the surface of ocean ground continuously keeping low altitude based on the terrain information. In the paper, realized system configuration, dynamic models, computing methods, and some of the obtained results are shown briefly. Effectiveness of two typical numerical integration methods, Runge-Kutta and Adams-Moulton methods, is also examined, and it is shown that the first method with variable time interval is appropriate for this kind of simulation study.
日本シミュレーション学会の論文
1988-12-15