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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華 | |
dc.contributor.author | Sheng-Kai Yang | en |
dc.contributor.author | 楊勝凱 | zh_TW |
dc.date.accessioned | 2021-06-15T13:25:18Z | - |
dc.date.available | 2026-12-31 | |
dc.date.copyright | 2016-06-11 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-05-23 | |
dc.identifier.citation | [1] R. E. Davis, C. C. Eriksen, and C. P. Jones, 'Autonomous buoyancy-driven underwater gliders,' ed: Taylor and Francis, London, 2002, pp. 37-58.
[2] C. C. Eriksen, T. J. Osse, R. D. Light, T. Wen, T. W. Lehman, P. L. Sabin, et al., 'Seaglider: A long-range autonomous underwater vehicle for oceanographic research,' Oceanic Engineering, IEEE Journal of, vol. 26, pp. 424-436, 2001. [3] N. E. Leonard and J. G. Graver, 'Model-based feedback control of autonomous underwater gliders,' Oceanic Engineering, IEEE Journal of, vol. 26, pp. 633-645, 2001. [4] 石伊蓓博士, 機械元件選用: 台灣科技大學,機械工程學系, 2010. [5] P. Bhatta and N. E. Leonard, 'Stabilization and coordination of underwater gliders,' in Decision and Control, 2002, Proceedings of the 41st IEEE Conference on, 2002, pp. 2081-2086. [6] J. G. Graver, 'Underwater gliders: Dynamics, control and design,' Princeton University New Jersey, USA, 2005. [7] J. Sherman, R. E. Davis, W. Owens, and J. Valdes, 'The autonomous underwater glider' Spray',' Oceanic Engineering, IEEE Journal of, vol. 26, pp. 437-446, 2001. [8] N. Mahmoudian, 'Efficient motion planning and control for underwater gliders,' 2009. [9] K. Isa and M. R. Arshad, 'Vertical motion simulation and analysis of USM underwater glider,' in Automation, Robotics and Applications (ICARA), 2011 5th International Conference on, 2011, pp. 139-144. [10] N. Mahmoudian and C. Woolsey, 'Underwater glider motion control,' in Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, 2008, pp. 552-557. [11] R. Bachmayer, J. G. Graver, and N. E. Leonard, 'Glider control: a close look into the current glider controller structure and future developments,' in OCEANS 2003. Proceedings, 2003, pp. 951-954. [12] D. C. Webb, P. J. Simonetti, and C. P. Jones, 'SLOCUM: An underwater glider propelled by environmental energy,' IEEE Journal of Oceanic Engineering, vol. 26, pp. 447-452, 2001. [13] R. Fink and D. Hoak, 'USAF stability and control DATCOM,' Air Force Flight Dynamics Laboratory, Wright-Patterson AFB, Ohio, 1975. [14] M.-F. Guo, 'Study on the Analysis of Performance and Simulation for the Maneuvering Motions of Underwater Glider,' Master Thesis, National Taiwan University, 2007. [15] C. Min-Yu, 'Hydrodynamic Coefficients Analysis of Underwater Glider,' Master Thesis, National Taiwan University, 2007. [16] M. Nakamura, K. Asakawa, T. Hyakudome, S. Kishima, H. Matsuoka, and T. Minami, 'Hydrodynamic coefficients and motion simulations of underwater glider for virtual mooring,' Oceanic Engineering, IEEE Journal of, vol. 38, pp. 581-597, 2013. [17] K. Asakawa, T. Hyakudome, Y. Ishihara, and M. Nakamura, 'Development of an underwater glider for virtual mooring and its buoyancy engine,' in Underwater Technology (UT), 2015 IEEE, 2015, pp. 1-6. [18] K. Asakawa, M. Nakamura, T. Kobayashi, Y. Watanabe, T. Hyakudome, Y. Ito, et al., 'Design concept of Tsukuyomi—Underwater glider prototype for virtual mooring,' in OCEANS, 2011 IEEE-Spain, 2011, pp. 1-5. [19] J. H. A. M. Vervoort, 'Modeling and Control of an Unmanned Underwater Vehicle,' Master traineeship report, Department of Mechanical Engineering, Mechatronics, University of Canterbury, 2008. [20] J. Lee, M. Roh, J. Lee, and D. Lee, 'Clonal selection algorithms for 6-DOF PID control of autonomous underwater vehicles,' in Artificial Immune Systems, ed: Springer, 2007, pp. 182-190. [21] A. L. Salih, M. Moghavvemi, H. A. Mohamed, and K. S. Gaeid, 'Modelling and PID controller design for a quadrotor unmanned air vehicle,' in Automation Quality and Testing Robotics (AQTR), 2010 IEEE International Conference on, 2010, pp. 1-5. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/51106 | - |
dc.description.abstract | 本研究發展前後浮力引擎型之水下滑翔機之製造與設計方法,提升傳統以滑翔為主要功能的設計,使滑翔機可以在水中定位及控制其姿勢。具有滑翔及定位及姿勢控制能力之水下滑翔機可在海底停留收集數據,未來可望做為水面與水下節點間的數據及能源傳送機構。水下滑翔機在執行深海的量測工作時,本體以及各操作元件必須要承受高壓環境且正常的運作,在機構與操作深度的方面皆以抵抗300dbar進行設計並經過特製的壓力模擬環境測試驗證。本裝置搭載了兩具活塞式浮力引擎放置於機身的兩端,是利用吸、排水改變重浮力差之機構改變滑翔機之重心位置。本論文推導了水下滑翔機力動態方程式以及對載具本身的性能進行探討,其中包含穩態的性能、設計翼展尺寸以及其選擇放置的位置以及浮力引擎操作限制。除了滑翔姿態外,本文也進行了定點深度和水平姿態控制,並展示實驗數據,以證明前後浮力引擎型水下滑翔機設計的可行性。 | zh_TW |
dc.description.abstract | This thesis develops a design method of underwater glider with fore and aft type buoyancy engines. Underwater glider design focuses on the gliding performance. This work enhances the glider function by adding the abilities of posture control and station keeping. A glider with gliding, posture control, and station keeping capabilities could be applied as a data and/or energy commuter in between surface and underwater nodes. This work at first design the body elements to withstand high pressure environment to 300dbar. The design is then proved through a stress simulation environment using a pressure testing device. A buoyance engine is a mechanism which changes buoyancy of an underwater vehicle by attracting and expelling water and can change the position of the center of gravity of the glider. Dynamic equations of an underwater glider is derived which implies the steady-state performance of gliding. Design methodology for the size of wings is used to choose the position of wings and the buoyancy engine operating limits. By the fore and aft buoyance changes, a depth control and constant posture of the glider can be achieved. Finally, the experimental data to demonstrate the gliding, depth and posture control are presented. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T13:25:18Z (GMT). No. of bitstreams: 1 ntu-105-R02525080-1.pdf: 12844072 bytes, checksum: e0299f18bd41751007038af9f28e7c5d (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 摘要 I
Abstract II List III Figures List VI Tables List X Symbol List XI Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 Hardware of the Underwater Glider 6 2.1 Hardware Introduction 6 2.2 Underwater Glider System Architecture 16 2.3 Submergence Design 19 2.3.1 Pressure cabin design 19 2.3.2 The matching of piston driving device 22 2.3.3 Variable volume bladder 25 2.3.4 The operation depth verification 30 Chapter 3 Dynamic Model of the Underwater Glider 33 3.1 Frames of Reference 33 3.2 Mass model of Underwater Glider 37 3.3 Dynamic Model of Underwater Glider 39 3.4 PID Control 47 Chapter 4 Performance of the Underwater Glider 49 4.1 Performance of Steady Underwater Glider 49 4.2 Design of Wings 57 4.3 Operational Constrains for Saving Energy 61 Chapter 5 Vehicle Testing 65 5.1 Experimental and operating environment 65 5.2 Simulations of Glider Motion 68 5.3 Gliding Experiments 70 5.4 Experiments of the depth and level posture control 76 5.4.1 Depth control results 77 5.4.2 Level posture control results 82 Chapter 6 Conclusion 87 References 88 | |
dc.language.iso | en | |
dc.title | 具滑翔與定位控制功能之浮力控制水下載具設計研究 | zh_TW |
dc.title | A Buoyancy-Controlled Underwater Vehicle for Gliding and Station Keeping | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 江茂雄,林顯群 | |
dc.subject.keyword | 水下滑翔機,浮力引擎,浮力驅動,水下載具,海洋觀測, | zh_TW |
dc.subject.keyword | underwater gliders,buoyancy engines driven,ocean observation, | en |
dc.relation.page | 91 | |
dc.identifier.doi | 10.6342/NTU201600261 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-05-24 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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