Development of a motion control method for a towed vehicle with a long cable

S. Yamaguchi; W. Koterayama; T. Yokobiki

doi:10.1109/UT.2000.852593

Development of a motion control method for a towed vehicle with a long cable

S. Yamaguchi, W. Koterayama, T. Yokobiki

Marine Systems Design

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

A towed vehicle "Flying Fish" has been developed for ocean observations. The motion of the long towing cable used in the observations is the dominant motion of the towing system, so that an accurate mathematical model of the towing cable must be determined. A design for a motion controller using a mathematical model of the cable motion based on a finite number of eigenfunctions of the cable motion equation is developed for the vehicle. Results of numerical simulation were compared with results from a lumped mass method and it was shown that the transient characteristic of the cable motion depends on the method used for the mathematical model. The designed motion controller was tested in field experiments and its efficiency was confirmed.

Original language	English
Title of host publication	Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	491-496
Number of pages	6
ISBN (Electronic)	0780363787, 9780780363786
DOIs	https://doi.org/10.1109/UT.2000.852593
Publication status	Published - 2000
Event	2nd International Symposium on Underwater Technology, UT 2000 - Tokyo, Japan Duration: May 23 2000 → May 26 2000

Publication series

Name	Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000

Other

Other	2nd International Symposium on Underwater Technology, UT 2000
Country/Territory	Japan
City	Tokyo
Period	5/23/00 → 5/26/00

All Science Journal Classification (ASJC) codes

Computational Theory and Mathematics
Automotive Engineering
Ocean Engineering
Instrumentation

Access to Document

10.1109/UT.2000.852593

Cite this

Yamaguchi, S., Koterayama, W., & Yokobiki, T. (2000). Development of a motion control method for a towed vehicle with a long cable. In Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000 (pp. 491-496). Article 852593 (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UT.2000.852593

Development of a motion control method for a towed vehicle with a long cable. / Yamaguchi, S.; Koterayama, W.; Yokobiki, T.
Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000. Institute of Electrical and Electronics Engineers Inc., 2000. p. 491-496 852593 (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamaguchi, S, Koterayama, W & Yokobiki, T 2000, Development of a motion control method for a towed vehicle with a long cable. in Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000., 852593, Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000, Institute of Electrical and Electronics Engineers Inc., pp. 491-496, 2nd International Symposium on Underwater Technology, UT 2000, Tokyo, Japan, 5/23/00. https://doi.org/10.1109/UT.2000.852593

Yamaguchi S, Koterayama W, Yokobiki T. Development of a motion control method for a towed vehicle with a long cable. In Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000. Institute of Electrical and Electronics Engineers Inc. 2000. p. 491-496. 852593. (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000). doi: 10.1109/UT.2000.852593

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abstract = "A towed vehicle {"}Flying Fish{"} has been developed for ocean observations. The motion of the long towing cable used in the observations is the dominant motion of the towing system, so that an accurate mathematical model of the towing cable must be determined. A design for a motion controller using a mathematical model of the cable motion based on a finite number of eigenfunctions of the cable motion equation is developed for the vehicle. Results of numerical simulation were compared with results from a lumped mass method and it was shown that the transient characteristic of the cable motion depends on the method used for the mathematical model. The designed motion controller was tested in field experiments and its efficiency was confirmed.",

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AB - A towed vehicle "Flying Fish" has been developed for ocean observations. The motion of the long towing cable used in the observations is the dominant motion of the towing system, so that an accurate mathematical model of the towing cable must be determined. A design for a motion controller using a mathematical model of the cable motion based on a finite number of eigenfunctions of the cable motion equation is developed for the vehicle. Results of numerical simulation were compared with results from a lumped mass method and it was shown that the transient characteristic of the cable motion depends on the method used for the mathematical model. The designed motion controller was tested in field experiments and its efficiency was confirmed.

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Development of a motion control method for a towed vehicle with a long cable

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