PROBLEM TO BE SOLVED: To provide an underwater vehicle and an underwater vehicle control method capable of shortening a braking distance of the underwater vehicle by control over a tail.SOLUTION: An underwater vehicle comprises: a generally cylindrical body portion; a plurality of tails disposed in a rear portion of the body portion to extend radially; tail drive means driving each of the tails to rotate about an axis extending radially; and a control unit transmitting a steering angle command value to the tail drive means. The underwater vehicle is configured so that the control unit calculates a margin steering angle rby a difference between a maximum steering angle rand an absolute value |r| of an attitude control steering angle command value for each of the tails, calculates a margin steering angle minimum value r, and determines a final steering angle command value robtained by adding or subtracting the steering angle minimum value rto or from the attitude control steering angle command value r.SELECTED DRAWING: Figure 4
【課題】尾翼を制御することにより、水中航走体の制動距離を短縮することができる、水中航走体及びその制御方法を提供する。【解決手段】略円筒形状の本体部と、本体部の後部に径方向に延伸するように配置された複数の尾翼と、尾翼の各々を径方向に延伸した軸を中心に回動させる尾翼駆動手段と、尾翼駆動手段に舵角指令値を送信する制御部と、を有し、制御部は、尾翼の各々について最大舵角rmaxと姿勢制御用舵角指令値の絶対値|rcontrol_i|との差分により余裕舵角rmargin_iを算出し、余裕舵角の最小値rmargin_minを算出し、姿勢制御用舵角指令値rcontrol_iに余裕舵角の最小値rmargin_minを加算又は減算した最終舵角指令値riを決定するように構成されている。【選択図】図4
UNDERWATER VEHICLE AND UNDERWATER VEHICLE CONTROL METHOD
水中航走体及びその制御方法
2016-02-08
Patent
Elektronische Ressource
Japanisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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