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
書誌事項
- タイトル別名
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- Basic Research on Automatic Installation of Underwater Flexible Structure Using Active Control
- 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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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.
収録刊行物
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- 日本造船学会論文集
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日本造船学会論文集 1997 (182), 199-205, 1997
社団法人 日本船舶海洋工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679072672128
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- NII論文ID
- 110003885519
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- NII書誌ID
- AN00194094
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- ISSN
- 18842070
- 05148499
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- NDL書誌ID
- 4402108
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- データソース種別
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- JaLC
- NDL
- Crossref
- NDL-Digital
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可