2A1-A02 主翼独立制御型水中グライダー「ALEX」の開発 : 自律型運動制御システムの構築(水中ロボット・メカトロニクス)

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Underwater glider has no propulsive machinery, so that this silent and safe underwater vehicle can be maintained with ease and is easy on ocean environment. The authors developed an underwater glider with independently controllable main wings named 'ALEX'. Main wings, upper rudder, diving rudder, movable balance weight, and vent-blow valves can be controlled by on-board microcomputer system. The ALEX has linear acceleration sensors, angular velocity sensors, pressure gauge, and magnetic compass. These sensor data in storage will be transmitted to PC when the ALEX is at the surface. The purpose of this research is to implement the MAVC2 system for motion control with a microcomputer in three types of methods; pre-programme control, open control, and feedback control. Motion performance of the ALEX was observed in the Ocean and Underwater Engineering Tank of Research Institute for Applied Mechanics, Kyushu University and it was verified that the implemented programme and wireless communication function work well.
一般社団法人日本機械学会の論文
2008-06-06