著者
安川 宏紀 宮沢 多
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.2001, no.190, pp.181-190, 2001 (Released:2009-09-04)
参考文献数
4

試験は, プロペラの回転方向として, 内回りと外回りの2つについて実施し比較した。試験結果をまとめると次の通りである。1. 内回りプロペラにおいては, 船尾が岸壁から離れ難く, 横移動が不能となる場合もある。外回りプロペラにおいては, 横力が明らかに大きいようであり, 船尾が岸壁から離れ易い。横移動が不能となることはない。2. プロペラ回転数の組み合わせをDS/S, S/Hと変化させても, 内回りプロペラ装備船の離岸性能の改善効果はほとんど見られない。同様に, 右舷舵角を0, ±35degと3種類変更させても, 離岸性能改善に大きな効果はない。3. 船の初期位置を岸壁からは離れたところに持ってくると, 横移動は容易となる。Fig.4に横移動試験結果の1例を示す。船影は10sec毎の右から左に動く模型船の位置を表している。内回りプロペラ (Inward) においては船がほとんど横に移動していないこと, 外回りプロペラ (Outward) においては所期の通り船尾が岸壁から離れた後で横方向へ移動していることが分かる。
著者
永井 保 吉田 靖 樋口 道之助 近藤 潔
出版者
公益社団法人日本船舶海洋工学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.141, pp.39-49, 1977-06

Analysing correlations among resistance at Froude number F_∇(= ∇/√<∇^<1/3>g>) =3.5, trim angles at F_∇=2.5 through 3.5, by using model test data in still water of the high speed craft, the clear correlation was found to exist between resistance at F_∇=3.5 and trim angle at F_∇=2.5. Therefore, the sequential unconstrained minimization technique was first applied to get the smallest total resistance hull form for each 30 minutes interval of trim angle change, and then followed the discussion concerning deviations arisen and resistance performance due to obtained hull form parameters. Using diagrams related to the total resistance at F_∇=3.5 and the trim angle at F_∇=2.5, we clarified finally the influence of the unit trim angle on the total resistance coefficient within high speed range.
著者
児玉 良明 角川 明 高橋 孝仁 石川 暁 川北 千春 金川 健 戸田 保幸 加藤 洋治 地本 晶彦 山下 和春 永松 哲朗
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.2002, no.192, pp.1-13, 2002 (Released:2007-05-30)
参考文献数
17
被引用文献数
5 4

This paper is the first half of the report on the study on microbubbles carried out by the SR239 project of the Shipbuilding Research Association of Japan, and describes the preparatory study for the full-scale experiment using a 116m-long ship. In the present study, first the skin friction reduction effect by microbubbles was investigated including the use of an array-of-holes plate for bubble generation, the effects of streamwise pressure gradient, surface curvature, and vertical plate, the sea-water effect, and the effect of bubble size. Bubble generators for the full-scale experiment were designed and built, and a preliminary injection experiment was carried out. Two new measuring devices for the full-scale experiment were developed; they are skin friction sensors and local void ratio sensors. Microbubble experiments were carried out in a 400m-long towing tank using a 50m-long flat plate ship, in order to obtain the scale effect data and to confirm the validity of the new devices for the full-scale experiment. The use of adhesives to fix measurement devices and cables on the hull surface was tested and established. The hydrodynamic fairing of the cables was also tested and established. Finally, a preliminary microbubble experiment using a small ship was carried out and the bubble behavior was observed.
著者
松村 竹実 浦 環
出版者
公益社団法人日本船舶海洋工学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.183, pp.91-100, 1998-06
被引用文献数
4

This paper proposes an artificial neural network system for regressive estimation of wave making resistance, which is significantly important in preliminary design of high-speed ship. The neural network can explicitly realize nonlinear mapping between hull form and wave making resistance. The system is composed of two kinds of neural networks ; Estimating Net and Descriptive Net. The Estimating Net learns the relation between hull form parameters and wave making resistance coefficients from a number of model-resistance test data. Consequently, when Froude Number, principal particular rations, and area curve parameters of a hull form are given, the Estimating Net of the learned data points in the hull form parameters space. It provides the information about the density of the learned data at the input point in the above parameters' space. In this paper, the test data of 62 models : Series 60, are used for the construction of the system. The leaning is successful and the results of playback calculation show good agreement with the original test data. Some applicable cases for non-learned hull forms are also explained. It is shown that the accuracy of the estimation is in accordance with the output of the Descriptive Net. When other model test data are available, it is easy to modify the constructed system, taking advantage of leaning ability of neural networks.
著者
胡 長洪 福地 信義 中島 徹
出版者
公益社団法人日本船舶海洋工学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.189, pp.127-135, 2001-06

In many compartment natural-convection problems associate with functional design of beat transfer for ships and ocean structures, large temperature difference occurs between the surrounding walls. Examples of such heat transfer problems include a cabin of a passenger ship when the neighboring cabin is on fire, and reefer holds of a refrigerating cargo ship. In these situations, heat radiation exchange among the wall surfaces cannot be neglected if the wall emissivities are not very small. In this paper, a numerical study is reported on combined turbulent convection, heat radiation and conduction in a rectangular enclosure with all six surrounding walls having finite emissivity and conductance. The turbulent convection is computed by a large eddy simulation (LES) method. The emphasis of the study is on the effects of wall radiation exchange on turbulent natural convection in a rectangular enclosure. For comparison with the computation, a laboratory experiment is also carried out on a rectangular enclosure with one sidewall heated by electric heaters. The effect of wall radiation on the natural convection is investigated by changing the wall emissivities. Excellent agreement of temperature between numerical predictions and the experimental measurements is obtained.
著者
尾崎 雅彦 南浦 純一 北島 良則 溝上 宗二 竹内 和久 畠中 勝則
出版者
公益社団法人日本船舶海洋工学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.187, pp.185-192, 2000-06
被引用文献数
3

Ocean sequestration of the captured CO_2 from fossil fuel burning is a possible option to mitigate the increase of CO_2 concentration in the atmosphere. It can isolate huge amount of CO_2 from the atmosphere for long time in relatively low cost, if it is acceptable from the viewpoint of the oceanic environmental impact. The dissolution type treated in this paper is based on the idea that CO_2 dissolved and sufficiently diluted in seawater does no more harms than slightly increasing the concentration of CO_2 already contained in the seawater. The concept of CO_2 dispersion in the ocean depths by ship is a promising implementation for the efficient dilution. That is, liquefied CO_2 is delivered by ship to the site and injected into ocean depths of 1,000 to 2,500m with a suspended and towed pipe by a slowly moving ship. The constant movement of releasing point of CO_2 causes no stagnation and accumulation of CO_2 in seawater. The released CO_2 will form plenty of droplets, and then they rise gently due to the buoyancy, while reducing in the size to disappear by dissolution in the ambient seawater. Since the turbulent diffusion in the intermediate ocean is dominant horizontally, use of the vertical journey of CO_2 droplets will be very effective for the initial dilution. Thus, authors have good prospects for the dilution ratio of one to a hundred thousands in a couple of hours after injection on an engineering realistic scale, by means that the initial size of droplets is controlled. Drop formations from a fixed nozzle are investigated referring the common knowledge on textbooks. And the possibility of generating relatively large size of droplets from a moving nozzle is experimentally studied. As a result, it is found that the horizontal nozzle towed by the slowly moving ship is promising for the control of the drop formations in a realistic scale .
著者
板垣 浩 豊田 政男 真島 篤 朝田 洋雄
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1981, no.149, pp.287-297, 1981 (Released:2010-01-25)
参考文献数
20

The role of adequate non-destructive inspections and following repairs of detected flaws is essential in order to continue the integrity of welded structures. It is, however, pointed out that catastrophic failures sometimes happen due to insufficient repairs having no regard for unfavorable effects of repair.In case of welded joints, when a detected flaw is repaired by renewed welding, the fracture toughness of a flaw which is not discovered and adjacent to the detected flaw becomes smaller because of so-called the Hot Straining Embrittlement. Therefore, if such effect mentioned above is not taken into account, the reliability of the welded joint must be overestimated.The purpose of the research is to investigate the effect of the Hot Straining Embrittlement giving rise to serious deterioration of fracture toughness and evaluate the optimum range of repair in order to prevent an unexpected failure with the aid of reliability analysis.This report, at first, describes deterministic or probabilistic factors which should be adopted in the reliability analysis, a model and formulations of the analysis, and then, presents the comparison between estimated reliabilities of various cases, i. e., no repair, repair with or without the Hot Straining Embrittlement (HSE).From the results of numerical examples, it is shown that, 1) the probability of failure of repair with HSE is extremely larger than that of repair without HSE, 2) when the detected flaw is small, the probability of failure of no repair becomes smaller than that of repair with HSE, and 3) the important results are obtained on the range of repair with HSE.
著者
岩崎 紀夫 加藤 昭彦 川原 正言
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1981, no.149, pp.268-278, 1981 (Released:2009-09-16)
参考文献数
7
被引用文献数
1

Fatigue crack growth under random loading has been extensively studied since nearly a decade in relation with the design of offshore structures, ship hulls, pressure vessels and so on.For the sake of simplicity, random loads in service conditions are often simulated by block programmed loads in laboratory fatigue tests. However, very few studies have been conducted on the difference of fatigue crack growth behaviour between random loads and block programmed loads.The authors previously presented an experimental study on fatigue crack growth under block programmed loads, and discussed on the effect of block size on fatigue crack growth life. A proposed model gave a good prediction of fatigue crack growth life in block programmed loading tests. In the present paper, fatigue crack growth tests were performed under three different types of block or random loads. Experimental results show that fatigue crack growth behaviour under random loads is very similar to that under block programmed loads with short periods. Miner's rule gave a non-conservative estimation for crack growth life under both random and short block loads. Life estimation by the model previously proposed agreed well to the experimental results.
著者
川口 勝義 浦 環 折出 光宏 坂巻 隆
出版者
社団法人 日本船舶海洋工学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.178, pp.657-666, 1995-12
参考文献数
9
被引用文献数
8 6

The ALBAC designed by the authors and constructed in 1992 is a prototype of shuttle type autonomous underwater vehicles. The ALBAC was developed for the oceanographic measurement of water column on the way and from the seabed.<BR>The vehicle does not have a propeller thruster but moves aside by gliding. To carry out the mission, the software includes three simple fuzzy controllers for longitudinal and lateral motion. The longitudinal motion controller displaces the longitudinal coordinate of the location of the center of gravity (C. G.) and controls the gliding angle, respectively of the vehicle. Two lateral motion controllers also displace the lateral coordinate of C. G. and control azimuth and yaw rate. The parameters of the fuzzy rules were optimized by using the Evolution Strategies on the simulator, and examined based on the motion data of every trial. 300-meter depth sea trials were successfully conducted in April of 1995 at the Suruga Bay of Japan.<BR>Consequently, the ALBAC is highly reliable and can be easily operated to carry out the mission to measure the profile of scientific data.
著者
藤田 譲 野本 敏治 仁保 治
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1978, no.144, pp.437-445, 1978 (Released:2010-01-20)
参考文献数
23

In the previous paper, studies on the ultimate strength of stiffened plates with initial deformations were made, and a new analytical method was proposed. In this paper, the effects of initial imperfections due to welding on the ultimate strength are investigated.It is well known that these welding-induced imperfections which inevitably occur during the manufacturing process reduce the compressive strengh of structural elements. Almost all the strength analyses that have been made so far are based on the measured or assumed initial imperfections.Firstly, in this paper, the practical method to predict welding-induced imperfections such as welding distortion and welding residual stress is introduced.Secondly, an analytical method reported in the previous paper is further developed for describing welded plate behavior in compression.Finally, making use of aboved-mentioned results, the ultimate strength of stiffened plates is discussed.The following conclusions are obtained.1) It is introduced how to predict welding-induced imperfections according to welding conditions. The authors extended their method in order to estimate the ultimate strength of welded plates with these imperfections. Since this method is an analytical one that the ultimate strength can easily be estimated comparing with other numerical methods.2) The obtained results are checked against available results from numerical analyses and experimental data. It is confirmed that this proposed method is fairly efficient one.3) The imperfections due to welding reduce compressive strength of plates. Reduction in ultimate strength is most remarkable in case of the square plate having both slenderness ratio b/t√σY/E=1.9 and small intial deformation. For slenderer plates, reduction ratio caused by welding-induced imperfections is approximately constant. For thicker plates, the effect of residual stress on the ultimate strength disappears.4) The welding residual stress in stiffened plates lowers the panel element strength so that minimum stiffeness ratios (γBmin, γUmin) of stiffened plates becomes smaller than those (γBmin, γUmin) of stress-free stiffened plates.
著者
中井 裕司 田畑 光敏
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1990, no.168, pp.623-628, 1990
被引用文献数
3

SHIP & OCEAN FOUNDATION studies on Pilot Model for CIM in shipbulding. One of the subjects in this project, we researched on modeling for Piping Arrangement in Shipbuilding. This paper proposed Piping Arrangement Model based on Object Oriented and Entity-Relationship method. Following this concept, we developed Prototype System by Smalltalk80, this is object oriented program language and enviroment.<BR>The Prototype System applied to midship part of oil tanker and obtained efficiency of proposed Piping Arrangement Model.
著者
町田 進 的場 正明 吉成 仁志 新村 豊
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1990, no.168, pp.605-614, 1990 (Released:2009-09-16)
参考文献数
13
被引用文献数
1

Ship life depends on many factors. The factors will be divided into three groups, the law of nature, performance and economy. The laws of nature are mainly fatigue and corrosion which reduce the retained structural toughness in aged ships. The performance factors of social impact will sometimes act key point. For example, marine pollution has a great influence on types of ships. In economy factors, investment and its recovery are basic ones that should be analyzed, and cost sensitivity of each of the factors should be analyzed on the point of effect on life. And some investigations show low finantial merit in ship life extention. The authors investigated the factors for proper ship life in basic and fundamental aspect, and confirmed that it should be taken heads to link the factors together. The points to be cleared in engineering point of view are the properties of corroded plates, and some results show very low fatigue strength and fracture toughness that warn low strength redundancy of aged ships.
著者
井上 真一 佐々木 紀幸 村上 恭二 藪下 和樹 鈴木 勝雄
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1996, no.180, pp.1-11, 1996 (Released:2009-09-16)
参考文献数
10

The amplitude functions measured by wave analysis experiment for a ship model are expanded in Mathieu function series in order to obtain the informations of improving the hull form. The expansion gives sectional area curve of the model as assumed as a source generating the measured wave system in linear wave-making theory. The expansion coefficients correspond with the coefficients of Mathieu expansion of the assumed sectional area curve and give the strengths of wave pattern resistance components. In order to reduce the total wave resistance the sectional area curve components corresponding with the dominant wave resistance components is to be subtracted.The amplitude functions measured for three ship models are expanded in Mathieu function series and their wave resistance components are compared with each other at various Froude numbers. The direction of improving hull form obtained by the present method corresponds with the design philosophy of the three ship forms.
著者
田中 義照 遠藤 久芳
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1988, no.164, pp.456-467, 1988 (Released:2010-05-07)
参考文献数
23
被引用文献数
17 20

Though a lot of experimental and theoretical investigations on the strength of stiffened plates in compression have been carried out, there are few to suggest the rational correlation between panel and stiffener associated with their local buckling and collapse. The main purpose of the paper is to present a method of analysis which may be effective not only in estimation of ultimate strength but also in mode shape analysis taking account of the interaction between panel and stiffener.The proposed procedure is composed of two parts, elastic large deformation analysis and rigid-plastic analysis. The fundamental concept of method was proposed by Fujitao and it has been developed to be applicable to the problem relating with panel-stiffener interaction. The presented method has been verified through comparing its results with the experiment and FEM calculation and it has been found to be practical for the estimation of ultimate load and post-buckling behavior of stiffened plates with flatbar stiffeners.Through the mode shape analysis, has been obtained a clear scope for the local collapse mode, which had been most commonly observed in the experiment conducted with continuous multi-span models.The critical slenderness ratio of flatbar stiffener has been studied through the analyses. They show that there is a threshold of the slenderness ratio, h/ts, over which the dominant buckling mode in a stiffener changes from a panel-buckling-induced one to an inter-frame overall and the buckling strength rapidly decreases. The critical value is found to be about 18, which indicates the existing rule requirements are a little too conservative.
著者
増山 豊 深沢 塔一 北崎 隆雄
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1997, no.181, pp.1-13, 1997 (Released:2009-09-16)
参考文献数
17
被引用文献数
2 7

Sail forces were measured in a full-scale sailing boat with the use of a sail force dynamometer. This apparatus consisted of an aluminum frame fixed to the hull by way of several load cells. The sailing boat was modified so that the dynamometer frame could be installed inside the hull. The mast, stays, winches, and other sailing rig were fixed on the frame so as to transmit all the forces acting on sail to the frame. By transforming the measured forces, the lift force, drag force, thrust, side force, or the center of effort of the sail force could be obtained. The sailing conditions of the boat, such as the boat speed, heel angle, wind speed, wind angle, and so on, were also measured.Sail shapes of the boat in the up-wind condition were also measured with the use of CCD cameras installed in the boat. The sail shape images taken by the cameras were transformed to bit-map files, and then processed by an SSA-2 D, a sail shape analyzing software. With the use of this software, sail shape parameters were obtained. The relationship between the measured sail forces and the sail shape parameters is discussed in this paper. Moreover, the measured sail shapes were used as the input data for the numerical calculations.Numerical calculations were performed to estimate the sail forces of the boat. In the calculations, two sails, a mainsail and a jib, were modeled in the form of a vortex lattice. The vortex lattice method was adopted as the numerical calculation method. Step by step calculations were conducted up to attaining the steady state of the sail in steady wind. Calculated sail forces were compared with the measured forces, and the validity of the numerical method was studied.
著者
徳永 純一郎 延永 尚志 中谷 龍男 岩崎 徹 福田 和廣 國武 吉邦
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1998, no.183, pp.45-52, 1998 (Released:2009-09-16)
参考文献数
7
被引用文献数
1 3

This paper proposes a new concept for the frictional drag reduction technique. The new technique makes use of a specific coating surface (Super-Water-Repellent Surface) which has a highly repellent effect and an ability to form a thin air film over it under water. When supplying a small amount of air to the specific coating surface from the outside continuously, the supplied air (secondary air) is absorbed in and joined with the primary air film and spread to form a filmy air flow along the surface. This technique reduces the frictional drag because of this phenomenon.A frictional drag test in the rectangular pipe flow and a resistance test of horizontal flat plate were carried out in order to verify the validity of this technique. As a result of these tests, it was confirmed that drag reductions of about 80% and about 55% were obtained for flow velocities of 4 m/s and 8 m/ s, respectively.
著者
栗田 義之 秋山 俊弥 北尾 幸市
出版者
日本造船学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.146, pp.407-419, 1979

In view of safety design against fatigue failure in cylindrical storage tank of low temperature use, low cycle and low temperature fatigue behaviour of shell to annular tee-fillet welded joint in tank was investigated experimentally and analytically, in case of liquefied propane gas tank, using a displacement-controlled bend test of model specimens. The experiments and analyses were done either by strain and displacement measurements around weld toe in annular plate under cyclic deformation or by finite element analysis mainly to clarify quantitatively the effects of type of weld joint as well as dimensions of weld joint, including the effects of annular plate thickness, on the fatigue crack initiation life of tank. Principal results obtained are as follows. (1) In bend test of model specimen, a distribution of strain range in front of weld toe indicates that its maximum value is found at weld toe as far as the deformation range examined, although maximum value of strain distribution is found at 5-10mm distant from weld toe under large extent of deformation. (2) Experiments and analyses show that there is no difference practically between fillet weld joint and full penetration joint in cyclic deformation as well as in fatigue strength. (3) The expression of evaluating the fatigue crack initiation life in the displacement controlled bend test of model specimen was derived in terms of weld joint parameters, which is [numerical formula] where N_c,._p, t. SL denotes fatigue crack initiation life, weld toe radius, displacement range at the loading point, annular plate thickness, and leg length of shell plate respectively. (4) By introducing a parameter _<s-A>, an angle which defines an extent of deformation around weld toe, the fatigue crack initiation life in tank is predicted from the results on model specimen. (5) The finite element analysis shows that as to the bend test on model specimen, the increase of annular plate thickness decreases the initiation life in displacement controlled test, and increases it in load controlled test. However, the incorporation of the results on model specimen to the behaviour in deformation of the tank indicates that these two express-ions are essentially the same as far as the fatigue crack initiation in tank concerned. As of now, it seems that the thicker the annular plate becomes the longer the fatigue crack initiation life in this type of tank.
著者
金井 一彦 森鼻 英征 山崎 敏樹 寺田 邦夫
出版者
日本造船学会
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
no.132, pp.269-279, 1972
被引用文献数
1

In order to obtain the collapse strength data on the spherical shells suitable to the pressure capsule of DSSV, collapsing tests were conducted using spherical shell models by means of MHI 1,200kg/cm^2 hydrostatic tank. These models were made from several kinds of materials including ultra-high yield strength steels such as 18% Ni maraging steel, 10% Ni dual-strengthened steels etc., and machined into near-perfect spherical shape or spheres with initial imperfection of various thicknesses. From these experiments the following conclusions are obtained : (1) Collapse pressure of relatively thick shells (h_a/R_<10>≧0.03) agrees to the theoretical inelastic buckling pressure by Gerard et al. (2) The effect of initial imperfections are evaluated by local radius in case of relatively thick shells. But for thinner shells, this method is not sufficient and nonlinear elasto-plastic analysis will be required. (3) Present results will not always agree with Krenzke's data, especially in thinner shells with flat spot. (4) Fracture appearance of collapsed shells are closely related to the fracture toughness of materials.
著者
隆杉 憲行
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1991, no.169, pp.123-134, 1991 (Released:2009-09-04)
参考文献数
12

The automatic position and the attitude control for the underwater vehicle staying still or moving at dead slow speed becomes non-linear, because the acceleration or the deceleration motion must be applied using thrusters, while the linear control system can be applied to the underwater vehicle cruising at high speed.In the previous paper, the linear approxmation of this non-linear system and a linear design method were proposed.This paper describes the results of the sea tests of the experimental underwater vehicle, and the evaluations made by the test results which proved the thory and the design method proposed in the previous paper to be applicable to the control of these underwater vehicles.
著者
隆杉 憲行
出版者
The Japan Society of Naval Architects and Ocean Engineers
雑誌
日本造船学会論文集 (ISSN:05148499)
巻号頁・発行日
vol.1990, no.168, pp.283-295, 1990 (Released:2009-09-16)
参考文献数
13

This paper treats the automatic position and the attitude control for the underwater vehicle staying still or moving at dead slow speed.The motion control of the underwater vehicle cruising at high speed is rather easy and now in practical use successfully, because the hydrodynamic characteristics and the dynamics of the vehicle can be assumed to be linear, which allows application of linear control system using control surfaces.But the position and the attitude keeping control of the underwater vehicle staying still or moving at dead slow speed becomes non-linear system, because the speed of all degrees of freedom becomes comparable and the acceleration or the deceleration motion must be applied using thrusters.This paper describes the linear approximation of this non-linear system, and presents a linear design method.