Basic Research on Automatic Installation of Underwater Flexible Structure Using Active Control

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  • 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
  • カイチュウ ジュウナン コウゾウブツ ノ アクティブ セイギョ ニヨル セッチ

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Abstract

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.<BR>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 flexiblity exists.<BR>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.<BR>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.

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