膨張率の大きい風船を用いた水中深度制御に関する一考察

抄録

The use of rubber balloons with a high rate of expansion to adjust the buoyancy of the ROV would allow the ROV to be highly functional. In this system, compressed air is delivered to the ROV via an air pipe to adjust the balloon size. However, the delay of this compressed air is unknown, and the relationship between the volume of the rubber balloon and the internal pressure is also expected to be nonlinear, making buoyancy control difficult. On the other hand, OpenModelica have model of the air flowing in the pipe, and it is easy to construct a model with nonlinear characteristics. In this report, models are discrived using OpenModelica and simulations are performed on the dynamic characteristics of the air pipe and the behavior of the ROV. Furthermore, it discussed that PID control can be simulated.