小型AUV「MR-X1」の実海域試験 : その1スラスタ動特性を考慮した針路制御系設計と運動方程式の精度向上 Field Experiments on AUV "MR-X1" : Part 1, Design of Direction Controller in Consideration of Thruster Dynamics and Modification of Motion Equations

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A small AUV "MR-X1" is being developed for detailed investigations of the seafloor and marine organisms at JAMSTEC (Japan Agency for Marine-Earth Science and Technology). The motion of the vehicle is controlled by five thrusters. In order to improve control performance, digital implementation of a model based controller (LQI controller) was begun in 2009, and field experiments were carried out in the sea area near the volcano "Teishi Kaikyuu" in Sagami Bay on February 8, 2010.In this paper, the results of field experiments on direction control of the vehicle are summarized, and the motion equations of the vehicle required for a model based controller (LQI controller) are modified by using the results of the field experiments.

収録刊行物

  • 日本船舶海洋工学会論文集 = Journal of the Japan Society of Naval Architects and Ocean Engineers

    日本船舶海洋工学会論文集 = Journal of the Japan Society of Naval Architects and Ocean Engineers (14), 143-150, 2011-12-01

    公益社団法人 日本船舶海洋工学会

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各種コード

  • NII論文ID(NAID)
    10030137193
  • NII書誌ID(NCID)
    AA12057769
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    18803717
  • NDL 記事登録ID
    023529350
  • NDL 請求記号
    Z74-E724
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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