PROBLEM TO BE SOLVED: To provide a rudder controller which can obtain a flow force rudder angle more approximate to a target flow force rudder angle even when there exists a rudder getting outside a steerable range out of four rudders that constitute an X type rear rudder, an underwater vehicle and a rudder control method.SOLUTION: A rudder controller 2 that controls the rudder angle of rudders 111-114 of an underwater vehicle 1 comprises: an apart 20, which accepts an input of target flow force rudder angles that the target values of a pitch rudder angle, a yaw rudder angle and a roll rudder angle; a necessary rudder angle specification part 21, which specifies necessary rudder angles that are rudder angles of each of rudders 111-114 necessary to obtain the target flow force rudder angles; a first rudder angle determination part 221, which determines rudder angles of one rudder with a necessary rudder angle out of rudders 111-114 getting outside a steerable range and rudder angles of another rudder capable of rotating around the same axis as the one rudder; and a second rudder angle determination part 222, which determines rudder angles of a rudder other than a rudder the rudder angle of which is determined by the first rudder angle determination part 221.SELECTED DRAWING: Figure 3
【課題】X型後舵を構成する4つの舵のうち操舵可能範囲外となった舵が存在した場合であっても、より目標流力舵角に近い流力舵角を得ることができる舵制御装置、水中航走体及び舵制御方法を提供する。【解決手段】水中航走体1の舵111〜114の舵角を制御する舵制御装置2は、ピッチ舵角、ヨー舵角及びロール舵角の目標値である目標流力舵角の入力を受け付ける入力部20と、記目標流力舵角を得るために必要な舵111〜114の各々の舵角である必要舵角を特定する必要舵角特定部21と、舵111〜114のうち必要舵角が操舵可能範囲外となっている一の舵の舵角と、当該一の舵と同じ軸線回りに回転可能とされた他の舵の舵角と、を決定する第1舵角決定部221と、第1舵角決定部221が舵角を決定した舵以外の舵の舵角を決定する第2舵角決定部222と、を備えている。【選択図】図3
RUDDER CONTROLLER, UNDERWATER VEHICLE AND RUDDER CONTROL METHOD
舵制御装置、水中航走体及び舵制御方法
2016-05-23
Patent
Electronic Resource
Japanese