PROBLEM TO BE SOLVED: To enable a proper sailing body control whether or not a machine body remains submerged.SOLUTION: A sailing control method for an underwater sailing body comprising a machine body, a first rudder and a second rudder includes a step of acquiring a present orientation of the underwater sailing body and a present depth of the underwater sailing body, a step of calculating a rudder angle adjustment amount as the whole body of the underwater sailing body on the basis of a deviation between the present orientation and a target orientation, and a step of distributing the rudder angle adjustment amount to at least one of the first rudder and the second rudder to adjust at least one of the first rudder and the second rudder on the basis of the distributed rudder angle adjustment amount. In the step of adjusting the rudder, when the present depth is larger than a first regulated depth Z, the rudder angle adjustment amount is distributed to both the first rudder and the second rudder, and when the present depth is smaller than a first regulated depth Z, the whole amount of the rudder angle adjustment amount is allocated only to one rudder located downward of the first rudder and the second rudder.SELECTED DRAWING: Figure 3

    【課題】機体の水没状態によらずに適切な航走制御を可能とする。【解決手段】機体と、第1方向舵及び第2方向舵とを含む水中航走体の航走制御方法は、前記水中航走体の現在方位及び前記水中航走体の現在深度を取得するステップと、前記現在方位と目標方位との偏差に基づいて前記水中航走体全体としての舵角調整量を算出するステップと、前記舵角調整量を前記第1方向舵又は前記第2方向舵の少なくとも一方に分配し、分配された前記舵角調整量に基づいて前記第1方向舵又は前記第2方向舵の少なくとも一方の舵角を調節するステップと、を備え、前記舵角を調節するステップでは、前記現在深度が第1規定深度Z1よりも大きい場合、前記第1方向舵及び前記第2方向舵の両方に前記舵角調整量を分配し、前記現在深度が第1規定深度Z1以下の場合、前記第1方向舵及び前記第2方向舵のうち下方に位置する一方の方向舵のみに前記舵角調整量の全量を割り振る。【選択図】図3


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    Title :

    SAILING CONTROL METHOD FOR UNDERWATER SAILING BODY AND UNDERWATER SAILING BODY


    Additional title:

    水中航走体の航走制御方法及び水中航走体


    Contributors:

    Publication date :

    2017-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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