大楠丹、柏木正、小寺山亘:Towed Vehicleの動力学に関する基礎的研究、

日本造船学会論文集、 第162号(1987).

35) Koterayama， W. ， Nakamura， M. and Kishimoto， O. : Development of an ROV for Sea Bottom Investigations over a Wide Area， Proc. of the Third Intemational Offshore and Polar Engineering Conference， (1993).

36) 三田村友弘:係留された浮遊式海洋構造物の位置保持システムに関する

研究、 九州大学大学院総合理工学研究科大気海洋環境システム学専攻修 士論文、(1994).

185

図表一覧

(Tables)

Table 3.1 Performance of Controller (2-D) Table 3.2 Performance of Controller (3・D)

(Figures)

Fig. 2.1 Coordinate system Fig. 2.2 Model Discretisation

Fig. 2.3 Drag coefficient CDx in steady flow Fig. 2.4 Drag coefficient CDy in steady flow Fig. 2.5 Drag coefficient CDM in steady flow

Fig. 2.6 Concept and assumption in dynamic calculation of mooring chain Fig. 2.7 Conceptual view of mooring

Fig. 3.1 Model (fixed thruster type)

Fig. 3.2 Perfoロnance curve of model thruster Fig. 3.3 Experimental set-up A (moored by chain) Fig. 3.4 Experimental set-up B (moored by chain) Fig. 3.5 Control equipment

Fig. 3.6 Time series of incident wave， motion of floating structure and horizontal Component of tension of mooring chain in regular wave

Fig. 3.7 Sway in regular wave Fig. 3.8 Heave in regular wave Fig. 3.9 Roll in regular wave

Fig. 3.10 Horizontal component of tension of mooring chain

in regular wave (weather side)

Fig. 3.11 Horizontal component of tension of mooring chain in regular wave (Lee side)

Fig. 3.12 Incident waves

Fig. 3.13 Motions of floating platform no control (moored by chain)

Fig. 3.14 Time series of horizontal component of tensions of mooring chains Fig. 3.15 Configuration of PID controller (2・D)

Fig. 3.16 Configuration of LQI control system

Fig. 3.17 Controller of floating platform by LQI control (2-D) Fig. 3.18 Gain curves of mathematical model (2・D)

Fig.3.19 Interconnection structure of H∞control system (2・D) Fig. 3.20 Specified pole region

Fig. 3.21 Gains by PID control (2-D) Fig.3.22 Gains by LQI control (2-D) Fig. 3.23 Gains by H∞control (2・D)

Fig. 3.24 Exper加ental set叩(moored by spring 2・D) Fig. 3.25 Motions of floating platform no control (2-D)

Fig. 3.26 Motions of floating platfoロn and thrust of thruster with PID control (EXP.乙D)

Fig. 3.27 Motions of floating platform and thrust of thruster with PID control (CAL. 2・D)

Fig. 3.28 Motions of floating platform and thrust of thruster with LQI control (EXP. 2・D)

Fig. 3.29 Motions of floating platform and thrust of thruster with LQI control (CAL. 2・D)

Fig. 3.30 Motions of floating platform and thrust of thruster withH∞control (EXP. 2・D)

187

Fig. 3.31 Motions of floating platform and thrust of thruster withH∞control (CAL. 2・D)

Fig. 3.32 Motions of floating platform and thrust of thruster with H∞control (moored by chain EXP.)

Fig. 3.33 Motions of floating platform and thrust of thruster with H∞control (moored by chain CAL.)

Fig. 3.34 Sway of floating platform and thrust of thruster in waves and current with H∞control

Fig. 3.35 Current generator

Fig. 3.36 Model (f1xed thruster type) Fig. 3.37 Coordinate system

Fig. 3.38 Configuration of PID controller (3・D) Fig. 3.39 Actuator dynamics

Fig. 3.40 Gain curves of mathematical model (3・D)

Fig. 3.41 Interconnection structure of H∞control system (3-D) Fig. 3.42 Specified pole region

Fig. 3.43 Gains by PID control (3・D) Fig. 3.44 Gains by LQI control (3-D) Fig. 3.45 Gains by H∞control (3-D)

Fig. 3.46 Experimental set-up A (moored by spring 3-D) Fig. 3.47 Experimental set-up B (moored by spring 3-D) Fig. 3.48 Motions of floating platform no control (3・D)

Fig. 3.49 Motions of floating platform and thrust of thruster with PID control (EXP.)

Fig. 3.50 Motions of floating platform and thrust of thruster with PID control (CAL.)

Fig. 3.51 Motions of floating platform and thrust of thruster with LQI control (EXP.)

Fig. 3.52 Motions of floating platform and thrust of thruster with LQI control

(CAL.)

Fig. 3.53 Motions of floating platform and thrust of thruster with H∞control (EXP.)

Fig. 3.54 Motions of floating platform and thrust of thruster with H∞control

(CAL.)

Fig. 3.55 Motions of floating platform under various wave conditions (H∞control)

Fig. 3.56 Motions of floating platform and thrust of thrusters In waves and current (H∞control)

Fig. 4.1 Interconnection structure of H∞control system Fig. 4.2 Actuator dynamics

Fig. 4.3 Specified pole region

Fig. 4.4 Gain curves of H∞controller

Fig. 4.5 Experimental set叩A (伽d thruster type)

Fig. 4.6 Exper加ental set-up

B

(fIXed t胎uster type)

Fig. 4.7 Step response of platform

Fig. 4.8 Motions of platform and thrust of thrusters under the註regular waves and current (αβ。=60 deg)

Fig. 4.9 Step response of surge under the註regular waves (80=60 deg) Fig. 4.10 Step response of sway under the註regular waves (80=60 deg) Fig. 4.11 Step response of yaw under the註regular waves (80=60 deg)

Fig. 4.12 Step response of platform under the irregular waves (80=60 deg)

189

Fig. 4.13 Step response of platform under the irregular waves and currentりんご60 deg)

Fig. 4.14 Motions of platform and thrust of thrusters under the irregular waves and cuπent(α，80=90 deg)

Fig. 4.15 Step response of surge under the註regular waves (80=90 deg) Fig.4.16 Step response of sway under the irregular waves (80=90 deg) Fig. 4.17 Step response of yaw under the irregular waves (80=90 deg) Fig. 4.18 Step response of platform under the irregular waves (80=90 deg)

Fig. 4.19 Step response of platform under the irregular waves and current (αβ。=90 deg)

Fig. 4.20 Motions of platform and thrust of thrusters under the irregular waves and current (αβ0=60 deg)

Fig. 4.21 parameter box of a1(三cos\V*) ，ai三sin\Vつ Fig. 4.22 Specified pole region

Fig. 4.23 Gain curves of controller at vertex points P _l' P _{0' and} P ₄

Fig. 4.24 Comparison of H∞controller with gain scheduled H∞controller at vertex P _l' P _{0， and} P ₄

Fig. 4.25 Concept of controller switing

Fig. 4.26 Step response (\Vc=O→35 deg) of semi-submersible platform (H∞controller)

Fig. 4.27 Step response (\Vc=O→35 deg) of semi-submersible platform (Gain scheduled H∞controller)

Fig. 4.28 Step response (\Vc=O→35→O→-35 deg， Xc=O→0.15→Om， Yc=O→0.15

→Om) of semi-submersible platform (Gain scheduled H∞∞ntroller)

Fig. 4.29 Motions of semi-submersible platform and thrust of thruster in註regular waves (\Vc=O→35→O→・35 deg， Xc=O→0.15→Om， Yc=O→0.15→Om)

Fig.4.30 Motions of semi-submersible platform and thrust of thruster in irregular waves and current

(\Vc=O→35→O→-35 deg， Xc=O→0.15→Om， Yc=O→0.15→Om) Fig. 4.31 Motions of semi-submersible platform (no disturbance)

(\Vc=O→70 deg， Xc=O→0.15 m， Yc=O→0.15 m)

Fig. 4.32 Motions of semi-submersible platform and thrust of thruster in註regular waves and current

(\Vc=O→70 deg， Xc=O→0.15m， Yc=O→0.15m) Fig. 4.33 Interconnection structure of H∞control system Fig. 4.34 Gain curves of controller

Fig. 4.35 Model (steerable thruster type)

Fig. 4.36 Coordinate system of steerable thruster Fig. 4.37 Actuator dynamics

Fig. 4.38 Experirnental set-up A (Steerable thruster type) Fig.4.39 Experirnental set-up B (Steerable thruster type)

Fig. 4.40 Step response of semi-submersible platform

(The performance index was composed of the t胎ust.)

Fig. 4.41 Step response of semi-submersible platform

(The performance index was composed of the thruster angles.)

Fig. 4.42 Motions of semi-submersible platform， thrust of thrusters and thruster angles in irregular waves (The performance index was composed of the t耐ust.)

Fig. 4.43 Motions of semi-submersible platform， thrust of thrusters and thruster angles h註regular waves

(The performance index was composed of the thruster angles.)

Fig. 4.44 Motions of semi-submersible platform， thrust of thrusters and thruster angles in irregular waves and current

(The performance index was composed of the t胎ust.)

Fig. 4.45 Motions of semi-submersible platform， thrust of thrusters and thruster angles h註regular waves and current

(The pe巾rmance index was composed of the thruster angles.)

Fig. 4.46 Motions of semi-submersible platform， thrust of thrusters and thruster佃gles in irregular waves and current (αんご90 deg→o deg)

(The performance index was composed of the 出ust.)

Fig. 4.47 Motions of semi-submersible platform， thrust of thrusters and thruster angles in註regular waves and current (αβ。=90 deg→180 deg)

(The performance index was composed of the thrust.)

Fig. 4.48 Motions of semi-submersible platfo口n， thrust of thrusters and thruster angles in irregular waves and cuπent (αβ。=90 deg→o deg)

(The performance index was composed of the thruster angles.)

Fig. 4.49 Motions of semi-submersible platform， thrust of thrusters and thruster angles in irregular waves and current (α，80=90 deg→180 deg)

(The performance index was composed of the thruster angles.)

Fig. 4.50 Step response of semi-submersible platfoロn in irregular waves and current (The performance index was composed of the thrust.)

Fig. 4.51 Step response of semi-submersible platfoロn in irregular waves and cuπent (The performance index was composed of the thruster angles.)

Fig. 4.52 Motions of semi-submersible platform in irregular waves and cuπent (The performance index was composed of the thrust.)

((A)limit of angular velocity of steerable thruster:10deダsec (B)limit of angular velocity of steerable thruster:5deglsec)

Fig. 4.53 Step response of semi-submersible platform in廿regular waves and current (The performance index was composed of the thruster angles.)

((A)limit of angular velocity of steerable thruster:10deglsec (B)limit of angular velocity of steerable thruster:5deglsec)

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