PROBLEM TO BE SOLVED: To provide a navigation body control device which can enhance accuracy of a hull control for a navigation body.SOLUTION: A navigation body control device performs a feed back control on the basis of a target navigation control parameter concerning a target depth, a target roll angle, a target pitch angle and a target azimuth angle and an actual value corresponding to the target navigation control parameter. An advance speed and a drift speed of a navigation body 1 are acquired. Then, a feedforward control value is calculated by use of interference compensation operational expression, which is derived by using linearization state equation near an optional equilibrium point of the navigation body including correction term which corrects interference with navigation control parameter in association with change of an advance speed and is proportional to the product of an advance speed multiplied by a drift speed, a value calculated based on the navigation control parameter, and state variable including the advance speed and the drift speed. A result of feedback control is corrected by use of the feedback control value.SELECTED DRAWING: Figure 1
【課題】航行体の船体制御の精度を向上させることができる航行体制御装置を提供する。【解決手段】目標深度、目標ロール角、目標ピッチ角、目標方位角についての目標の航行制御パラメータと該目標の航行制御パラメータに対応する実測値とに基づいてフィードバック制御を行う。航行体1の進行速度と横流れ速度とを取得する。そして、進行方向の変更に伴う航行制御パラメータへの干渉を補正する補正項であって進行速度と横流れ速度の積に比例する補正項を含む、航行体の任意の平衡点近傍における線形化状態方程式を用いて導出した干渉補償演算式と、航行制御パラメータに基づいて算出した値、進行速度、横流れ速度を含む状態変数と、を用いてフィードフォワード制御値を算出する。フィードフォワード制御値を用いてフィードバック制御の結果を補正する。【選択図】図1
NAVIGATION BODY CONTROL DEVICE, NAVIGATION BODY, METHOD FOR CONTROL OF NAVIGATION BODY, PROGRAM
航行体制御装置、航行体、航行体制御方法、プログラム
2016-05-16
Patent
Elektronische Ressource
Japanisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Europäisches Patentamt | 2021
|NAVIGATION METHOD, NAVIGATION SYSTEM, MOVING BODY, AND NAVIGATION PROGRAM
Europäisches Patentamt | 2021
|NAVIGATION METHOD, NAVIGATION SYSTEM, MOVING BODY, AND NAVIGATION PROGRAM
Europäisches Patentamt | 2019
|NAVIGATION DEVICE, MOVING BODY, NAVIGATION SYSTEM AND PROGRAM
Europäisches Patentamt | 2019
|NAVIGATION METHOD, NAVIGATION SYSTEM, MOVING BODY, AND NAVIGATION PROGRAM
Europäisches Patentamt | 2020
|