PROBLEM TO BE SOLVED: To provide an underwater sailing body control device which can achieve accurate kinematic control to an underwater sailing body, with a simple structure.SOLUTION: An underwater sailing body control device 2 comprises: a feedback control part 20 for calculating a thrust command value indicating a thrust to be applied to an underwater sailing body 10 for reducing a deviation, on the basis of the deviation of an actual value of a state quantity (position, speed) of the underwater sailing body 10 acquired through a sensor mounted on the underwater sailing body 10, and a given command value of the state quantity; a thrust distribution part 21 for calculating a thrust command value for every thruster, indicating a thrust which each of plural thrusters 100 should generate, for inputting a prescribed disturbance compensation thrust command value based on the thrust command value, and giving the thrust indicated in the disturbance compensation thrust command value to the underwater sailing body 10; and a disturbance estimation part 23 for, on the basis of the thrust command value and the actual value of the state quantity (speed), calculating a disturbance estimation value indicating disturbance force which acts the underwater sailing body 10.SELECTED DRAWING: Figure 3
【課題】簡素な設計で、水中航走体に対する精度の高い運動制御を実現可能な水中航走体制御装を提供する。【解決手段】水中航走体制御装置2は、水中航走体10に搭載されたセンサを通じて得られた当該水中航走体10の状態量(位置、速度)の実測値と、与えられた状態量の指令値と、の偏差に基づいて、当該偏差を小さくするために水中航走体10に与えるべき推力を示す推力指令値を算出するフィードバック制御部20と、推力指令値に基づく所定の外乱補償推力指令値を入力し、当該外乱補償推力指令値に示される推力を水中航走体10に与えるために、複数のスラスタ100の各々が発生すべき推力を示すスラスタ別推力指令値を算出する推力配分部21と、推力指令値と状態量(速度)の実測値とに基づいて、水中航走体10に作用する外乱力を示す外乱推定値を算出する外乱推定部23と、を備えている。【選択図】図3
UNDERWATER SAILING BODY CONTROL DEVICE, UNDERWATER SAILING SYSTEM, UNDERWATER SAILING BODY CONTROL METHOD AND PROGRAM
水中航走体制御装置、水中航走システム、水中航走体制御方法及びプログラム
2017-11-24
Patent
Electronic Resource
Japanese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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