To aim at improving accuracy of a feedback control system and at effectively suppressing the fluctuation of the hull due to disturbance.SOLUTION: A control device of an underwater vehicle comprises control units in a feedback system respectively provided correspondingly to at least two axes to be controlled, and a decoupling control unit 16 in a feedback system which calculates interference compensation rudder angles to cancel out mutual interference between the axes using calculation formulas for the interference compensation and outputs them to the control units, and in a linearized state equation in the vicinity of an arbitrary equilibrium point, representing a coefficient matrix as a function of state quantities and operation quantities of a hull, then the interference compensation computing equation is derived from the linearized state equation modified so as to be applicable to an entire operation range of the hull by performing an inverse problem analysis with respect to parameters for necessary rudder operation quantities in order to perform a desired movement, and the decoupling control unit 16 obtains the interference compensation rudder angles by assigning respective deviations between respective state quantities according to the time and respective target values into the interference compensation computing equation.SELECTED DRAWING: Figure 5

    【課題】フィードバック系の制御の精度を向上させ、外乱による船体の揺動を効果的に抑制することを目的とする。【解決手段】水中航走体の制御装置であって、制御対象である少なくとも2軸に対応してそれぞれ設けられたフィードバック系の制御部と、干渉補償演算式を用いて、軸間の相互干渉を打ち消すための干渉補償舵角を演算し、制御部に出力するフィードバック系の非干渉制御部16と、を備え、干渉補償演算式は、船体の任意の平衡点近傍における線形化状態方程式において、係数行列を船体の状態量及び船体の操作量の関数として表して、船体の全運転範囲において適応可能なように変化させた線形化状態方程式を、所望の運動を行うために必要な舵操作量に関するパラメータについて逆問題解析することにより導出された演算式であり、非干渉制御部16は、干渉補償演算式に、時間に応じた状態量と目標値の偏差を代入することにより、干渉補償舵角を得る。【選択図】図5


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    CONTROL DEVICE OF UNDERWATER VEHICLE, UNDERWATER VEHICLE AND CONTROL METHOD OF UNDERWATER VEHICLE


    Weitere Titelangaben:

    水中航走体の制御装置及び水中航走体並びに水中航走体の制御方法


    Beteiligte:
    ADACHI TAKEYASU (Autor:in) / AWAYA ICHIRO (Autor:in) / NAKADA MASAHIRO (Autor:in)

    Erscheinungsdatum :

    2019-02-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    UNDERWATER VEHICLE AND UNDERWATER VEHICLE CONTROL METHOD

    SUDO HIROSHI | Europäisches Patentamt | 2016

    Freier Zugriff


    Underwater vehicle rib, underwater vehicle and underwater vehicle manufacturing method

    QIAO JIANYI / WANG GUANBO / MA LIRAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff


    Underwater underwater vehicle

    FU YAPING / HUANG FAMU / SU HAIBO et al. | Europäisches Patentamt | 2023

    Freier Zugriff