JP3207572B2 - Underwater vehicle bearing control device - Google Patents
Underwater vehicle bearing control deviceInfo
- Publication number
- JP3207572B2 JP3207572B2 JP35178592A JP35178592A JP3207572B2 JP 3207572 B2 JP3207572 B2 JP 3207572B2 JP 35178592 A JP35178592 A JP 35178592A JP 35178592 A JP35178592 A JP 35178592A JP 3207572 B2 JP3207572 B2 JP 3207572B2
- Authority
- JP
- Japan
- Prior art keywords
- underwater vehicle
- rotational moment
- horizontal rotational
- propulsion
- azimuth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は水中航走体の方位制御装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an azimuth control device for an underwater vehicle.
【０００２】[0002]
【従来の技術】水中航走体としては、従来、例えば、図
４斜視図に示すように、偏平正方立方体状の機体０１
と、機体０１の央部に穿設された竪孔に装着された昇降
用推進器０２と、機体０１の下部前端に取付けられたＴ
Ｖカメラ０３と、機体０１の下部後端中央に接続された
テザーケーブル０４と、機体０１の下部後端部に左右１
対的に取付けられた前後進用推進器０５等とから形成さ
れるものが知られている。このような水中航走体では、
昇降用推進器０２が１基なので、昇降用推進器０２の発
生するモーメントで機体０１が回頭し、したがって昇降
時にＴＶカメラ０３を介しての調査観測が不可能になる
とともに、テザーケーブル０４が捩れて破損する惧れが
ある。そこで、この種の水中航走体では、機体０１の回
頭を防ぐために、水上の支援船の係員がＴＶカメラ０３
で得られる情報に基づいて、手動操作で左右の前後進用
推進器０５を互いに出力調整して、機体０１に昇降用推
進器０２が与えるモーメントとは逆のモーメントを与え
ている。また、左右の前後進用推進器に自動方位制御機
構を連動させて、方位センサーからの信号により、連続
的に水中航走体の回頭防止制御をするものも知られてい
る。2. Description of the Related Art Conventionally, as an underwater vehicle, for example, as shown in a perspective view of FIG.
And a lifting propulsion device 02 mounted on a vertical hole drilled in the center of the body 01, and a T mounted on a lower front end of the body 01.
V camera 03, tether cable 04 connected to the center of the lower rear end of body 01, and left and right 1
There is known one formed of a pair of forward-backward propulsion units 05 and the like attached to each other. In such an underwater vehicle,
Since there is only one elevating propulsion device 02, the aircraft 01 is turned by the moment generated by the elevating propulsion device 02, so that it is impossible to carry out investigation and observation via the TV camera 03 at the time of elevating and lowering, and the tether cable 04 is twisted. And may be damaged. Therefore, in order to prevent the aircraft 01 from turning around in this type of underwater vehicle, the staff on the water support vessel must use the TV camera 03.
Based on the information obtained in step (1), the left and right forward and backward propulsion units 05 are manually adjusted to output each other, and a moment opposite to the moment provided by the lifting / lowering propulsion unit 02 is given to the body 01. There is also known an apparatus in which an automatic azimuth control mechanism is linked to left and right forward and rearward propulsion units, and a turning prevention control of the underwater vehicle is continuously performed by a signal from an azimuth sensor.
【０００３】しかしながら、これらの手段では、それぞ
れ下記のような欠点がある。 (1) 手動操作のものでは、係員が疲労するので、省力上
問題がある。 (2) 自動操作のものでは、センサーの応答遅れにより、
制御に行き過ぎが生じ、ハンチング現象が惹起されてし
まう。また、この対策として制御ゲインを低下すると、
制御自体の応答が悪くなる。However, these means have the following disadvantages. (1) In the case of manual operation, there is a problem in terms of labor saving because the staff is tired. (2) In the case of automatic operation, due to the response delay of the sensor,
Control goes too far, causing a hunting phenomenon. As a countermeasure, if the control gain is reduced,
The response of the control itself deteriorates.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、このような
事情に鑑みて提案されたもので、操作が容易で、したが
って省力性に優れた水中航走体の方位制御装置を提供す
ることを目的とする。また、ハンチング現象が生ぜず、
かつ応答性が良好な、したがって精度に優れた水中航走
体の方位制御装置を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and it is an object of the present invention to provide an azimuth control device for an underwater vehicle which is easy to operate and therefore excellent in labor saving. Aim. Also, the hunting phenomenon does not occur,
It is another object of the present invention to provide an azimuth control device for an underwater vehicle that has good responsiveness and therefore high accuracy.
【０００５】[0005]
【課題を解決するための手段】そのために、請求項１の
発明は、昇降用推進器を１基，前後進用推進器を複数基
それぞれ装着した水中航走体において、昇降用推進器を
駆動させたときの第１の水平回転モーメントをあらかじ
め推定し、上記第１の水平回転モーメントを相殺する方
向に上記複数基の前後進用推進器で第２の水平回転モー
メントを与え、さらに上記第１の水平回転モーメントと
上記第２の水平回転モーメントの差によって生ずる上記
水中航走体の実回頭力を方位センサーで検出し、上記各
前後進用推進器の推力を補正することを特徴とする。For this purpose, the invention of claim 1 drives the lifting propulsion device in an underwater vehicle in which one lifting propulsion device and a plurality of forward / reverse propulsion devices are mounted. The first horizontal rotational moment when the first horizontal rotational moment is estimated is given in advance, and the second horizontal rotational moment is given by the plurality of forward / reverse propulsion units in a direction to cancel the first horizontal rotational moment. The heading force of the underwater vehicle generated by the difference between the horizontal rotation moment of the underwater vehicle and the second horizontal rotation moment is detected by a direction sensor, and the thrust of each forward and backward propulsion unit is corrected.
【０００６】また、請求項２の発明は、水中航走体の実
回頭力を方位センサーで検出し前後進用推進器の推力を
補正したのち、上記方位センサーの応答時間だけ上記補
正を中断することを特徴とする。According to a second aspect of the present invention, after the actual heading force of the underwater vehicle is detected by the direction sensor and the thrust of the forward / backward propulsion device is corrected, the correction is interrupted by the response time of the direction sensor. It is characterized by the following.
【０００７】[0007]
【作用】このような構成によれば、下記の作用が行われ
る。請求項１の発明によれば、昇降用推進器を駆動させ
たときの第１の水平回転モーメントをあらかじめ推定
し、上記第１の水平回転モーメントを相殺する方向に上
記複数基の前後進用推進器で第２の水平回転モーメント
を与え、さらに上記第１の水平回転モーメントと上記第
２の水平回転モーメントの差によって生ずる上記水中航
走体の実回頭力を方位センサーで検出し、上記各前後進
用推進器の推力を補正するので、装置の操作が容易にな
る。請求項２の発明によれば、請求項１の作用に加え
て、方位センサーの応答時間だけ上記補正を中断するの
で、請求項１の作用に加えて、装置にハンチング現象が
生ぜず、かつ応答性が良好になる。According to such a configuration, the following operation is performed. According to the first aspect of the present invention, the first horizontal rotational moment when the lifting / lowering propulsion device is driven is estimated in advance, and the plurality of forward / reverse propulsion units are driven in a direction to offset the first horizontal rotational moment. A second horizontal rotational moment is given by a device, and an actual turning force of the underwater vehicle generated by a difference between the first horizontal rotational moment and the second horizontal rotational moment is detected by a direction sensor. Since the thrust of the advancing propulsion device is corrected, the operation of the device becomes easy. According to the second aspect of the present invention, in addition to the operation of the first aspect, the correction is interrupted for the response time of the azimuth sensor. Therefore, in addition to the operation of the first aspect, the hunting phenomenon does not occur in the device and the response time is reduced. The property becomes good.
【０００８】[0008]
【実施例】本発明を図４に示した水中航走体に適用した
一実施例を図面について説明すると、同図と同一の符号
はそれぞれ同図と同一の部材を示し、まず、図１斜視図
において、１，２はそれぞれ機体０１の下部前端寄りに
配設された方位センサー，自動方位制御機構である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an underwater vehicle shown in FIG. 4 will be described with reference to the drawings. The same reference numerals as those in FIG. 4 denote the same members as those in FIG. In the figure, reference numerals 1 and 2 denote an azimuth sensor and an automatic azimuth control mechanism disposed near the lower front end of the body 01, respectively.
【０００９】次に、水中航走体の自動方位制御機構２の
回路構成を示す、図２ブロック図において、３は昇降用
推進器回転計４からの検出値に基づき昇降用推進器０２
の回転速度及びモーメントを演算する回転力演算器であ
る。５は回転力演算器３の演算した回転速度及びモーメ
ントに基づき前後進用推進器０５の制御量を算出し、こ
れを前後進用推進器制御機構６へ出力する前後進用推進
器制御量演算器で、これはそのときの方位センサー１か
らの検出値に基づき方位変化量演算器７により算出した
変化量を補正値として加味することができる。８は方位
変化量演算器７による制御をしたときから、方位センサ
ー１の応答時間ＴO だけ、方位センサー１の変化量をゼ
ロとしておくタイマーカウンターである。Next, FIG. 2 is a block diagram showing a circuit configuration of the automatic azimuth control mechanism 2 for the underwater vehicle. In FIG.
Is a rotational force calculator that calculates the rotational speed and moment of the motor. Reference numeral 5 denotes a forward / backward propulsion device control amount calculation for calculating a control amount of the forward / backward propulsion device 05 based on the rotation speed and the moment calculated by the rotational force calculator 3 and outputting the control amount to the forward / backward propulsion device control mechanism 6. The change amount calculated by the azimuth change amount calculator 7 based on the detection value from the azimuth sensor 1 at that time can be added as a correction value. Reference numeral 8 denotes a timer counter that sets the change amount of the direction sensor 1 to zero for the response time T O of the direction sensor 1 after the control by the direction change amount calculator 7.
【００１０】このような装置において、図１に示す水中
航走体が水中調査を行う際は、昇降用推進器０２を駆動
して水中航走体を昇降させるとき、自動方位制御機構２
により、昇降用推進器０２の回転速度及び方位センサー
１に基づき、左右１対の前後進用推進器０５を互いに調
節駆動して、水中航走体を回頭させることなく昇降さ
せ、したがって、ＴＶカメラ０３での水中調査を可能と
するとともに、テザーケーブル０４の破損を防止する。In such an apparatus, when the underwater vehicle shown in FIG. 1 conducts an underwater survey, when the underwater vehicle is driven up and down by driving the elevating propulsion device 02, the automatic azimuth control mechanism 2 is used.
Accordingly, based on the rotation speed and the direction sensor 1 of the lifting / lowering propulsion device 02, the pair of left and right forward / reverse propulsion devices 05 are adjusted and driven to each other, and the underwater vehicle is raised and lowered without turning. In addition to enabling the underwater investigation at 03, the tether cable 04 is prevented from being damaged.
【００１１】ここで、本装置の作動工程を図３流れ図に
ついて説明すると、まず、昇降用推進器０２（図１）の
駆動の有無を判断し、これが駆動中ならば、その回転速
度を検出する。続いて、この回転速度に基づいて昇降用
推進器０２のモーメントを計算し、これを打ち消す回頭
力を与えるために、前後進用推進器０５の制御量を算出
し制御する。このとき、方位センサー１の変化量があれ
ば、前後進用推進器０５の制御量の算出の際、この変化
量を補正値として加味するとともに、方位センサー１の
応答時間ＴO だけ、方位センサー１の変化量をゼロとし
て補正を加えず、昇降用推進器０２の回転速度のみに基
づいて左右１対の前後進用推進器０５をそれぞれ制御す
る。補正による制御をしたならば、方位補正フラグを立
て、これを前後進用推進器０５の前後進制御後に見に行
き、フラグが立っていて、タイマーカウンター８がカウ
ント中ならば、これが方位センサー１の応答時間ＴO だ
け、方位変化量をゼロとする。また、方位補正フラグが
立っていて、タイマーカウンター８がカウントしていな
ければ、カウントを開始し、上記のように、タイマーカ
ウンター８が方位センサー１の応答時間ＴO だけ、方位
変化量をゼロとする。そして、タイマーカウンター８が
方位センサー１の応答時間ＴO になったとき、方位補正
フラグ及びタイマーカウンター８をリセットし、方位変
化量に応じて補正を行い、方位補正フラグが立っていな
いときは速やかに変位変化量に応じて補正を行う。な
お、前後進用推進器０５の数は、３基以上としても差支
えない。Here, the operation process of the present apparatus will be described with reference to the flowchart of FIG. 3. First, it is determined whether or not the elevating propulsion device 02 (FIG. 1) is driven, and if it is being driven, its rotational speed is detected. . Subsequently, the moment of the lifting / lowering propulsion device 02 is calculated based on the rotation speed, and a control amount of the forward / reverse propulsion device 05 is calculated and controlled in order to provide a turning force for canceling the moment. At this time, if there is a change amount of the azimuth sensor 1, when calculating the control amount of the forward / reverse propulsion unit 05, this change amount is taken into account as a correction value, and the azimuth sensor 1 is added only by the response time T O of the azimuth sensor 1. The change amount of 1 is set to zero and the correction is not applied, and the pair of right and left forward and backward propulsion units 05 is controlled based only on the rotation speed of the lifting and lowering propulsion unit 02. If the control by the correction is performed, an azimuth correction flag is set, and this is checked after the forward / backward control of the forward / backward propulsion unit 05. If the flag is set and the timer counter 8 is counting, this is the azimuth sensor 1 The azimuth change amount is set to zero only for the response time T O of . If the azimuth correction flag is set and the timer counter 8 is not counting, the counting is started, and as described above, the timer counter 8 sets the azimuth change amount to zero by the response time T O of the azimuth sensor 1. I do. Then, when the timer counter 8 reaches the response time T O of the direction sensor 1, the direction correction flag and the timer counter 8 are reset, and the correction is performed according to the direction change amount. The correction is made according to the displacement change amount. The number of forward and backward propulsion units 05 may be three or more.
【００１２】このような、実施例の装置によれば、下記
効果が奏せられる。 (1) 昇降用推進器を駆動させたときの第１の水平回転モ
ーメントをあらかじめ推定し、上記第１の水平回転モー
メントを相殺する方向に上記複数基の前後進用推進器で
第２の水平回転モーメントを与え、さらに上記第１の水
平回転モーメントと上記第２の水平回転モーメントの差
によって生ずる上記水中航走体の実回頭力を方位センサ
ーで検出し、上記各前後進用推進器の推力を補正するの
で、装置の操作が容易で、したがって省力性が向上す
る。 (2) 上記(1) の要件のほかに、方位センサーの応答時間
だけ上記補正を中断するので、上記(1) の作用に加え
て、装置にハンチング現象が生ぜず、かつ応答性が良好
で、したがって精度が向上する。According to the apparatus of the embodiment, the following effects can be obtained. (1) The first horizontal rotational moment when the lifting / lowering propulsion unit is driven is estimated in advance, and the plurality of forward / reverse propulsion units are used to move the second horizontal rotation moment in a direction to offset the first horizontal rotation moment. The turning moment is given, and the actual turning force of the underwater vehicle generated by the difference between the first horizontal turning moment and the second horizontal turning moment is detected by a direction sensor, and the thrust of each forward-reverse propulsion device is detected. Is corrected, the operation of the apparatus is easy, and thus the labor saving is improved. (2) In addition to the requirements of (1) above, the above correction is interrupted only for the response time of the direction sensor, so that in addition to the effect of (1), hunting does not occur in the device and the response is good. Therefore, the accuracy is improved.
【００１３】[0013]
【発明の効果】要するに請求項１の発明によれば、昇降
用推進器を１基，前後進用推進器を複数基それぞれ装着
した水中航走体において、昇降用推進器を駆動させたと
きの第１の水平回転モーメントをあらかじめ推定し、上
記第１の水平回転モーメントを相殺する方向に上記複数
基の前後進用推進器で第２の水平回転モーメントを与
え、さらに上記第１の水平回転モーメントと上記第２の
水平回転モーメントの差によって生ずる上記水中航走体
の実回頭力を方位センサーで検出し、上記各前後進用推
進器の推力を補正することにより、操作が容易で、した
がって省力性に優れた水中航走体の方位制御装置を得る
から、本発明は産業上極めて有益なものである。In summary, according to the first aspect of the present invention, when the lifting propulsion device is driven in an underwater vehicle in which one lifting propulsion device and a plurality of forward / reverse propulsion devices are respectively mounted. Estimating a first horizontal rotational moment in advance, providing a second horizontal rotational moment with the plurality of forward-reverse propulsion units in a direction to cancel the first horizontal rotational moment, and further providing the first horizontal rotational moment The heading sensor detects the actual turning force of the underwater vehicle caused by the difference between the second horizontal rotational moment and the second horizontal rotational moment, and corrects the thrust of each forward / backward propulsion device, thereby facilitating the operation and thus saving labor. The present invention is extremely useful industrially because an azimuth control device for an underwater vehicle having excellent performance is obtained.
【００１４】また、請求項２の発明によれば、請求項１
の要件に加えて、水中航走体の実回頭力を方位センサー
で検出し前後進用推進器の推力を補正したのち、上記方
位センサーの応答時間だけ上記補正を中断することによ
り、請求項１の作用に加えて、ハンチング現象が生ぜ
ず、かつ応答性が良好な、したがって精度に優れた水中
航走体の方位制御装置を得るから、本発明は産業上極め
て有益なものである。Further, according to the invention of claim 2, according to claim 1,
In addition to the above requirements, after the actual heading force of the underwater vehicle is detected by the direction sensor and the thrust of the forward / backward propulsion device is corrected, the correction is interrupted by the response time of the direction sensor. In addition to the above-mentioned operation, the hunting phenomenon does not occur, and the responsiveness of the underwater vehicle is excellent, and therefore the azimuth control device of the underwater vehicle has excellent accuracy. Therefore, the present invention is extremely useful in industry.
【図１】本発明を図４に示した水中航走体に適用した一
実施例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment in which the present invention is applied to the underwater vehicle shown in FIG.
【図２】図１の自動方位制御機構２の構成を示すブロッ
ク図である。FIG. 2 is a block diagram showing a configuration of an automatic azimuth control mechanism 2 of FIG.
【図３】図１の自動方位制御機構２の作動工程を示す流
れ図である。FIG. 3 is a flowchart showing an operation process of the automatic azimuth control mechanism 2 of FIG. 1;
【図４】公知の前後進用推進器を利用した方位制御装置
を有する水中航走体を示す斜視図である。FIG. 4 is a perspective view showing an underwater vehicle having an azimuth control device using a known forward / backward propulsion device.
１ 方位センサー ２ 自動方位制御機構 ３ 回転力演算器 ４ 昇降用推進器回転計 ５ 前後進用推進器制御量演算器 ６ 前後進用推進器制御機構 ７ 方位変化量演算器 ８ タイマーカウンター ０１ 機体 ０２ 昇降用推進器 ０３ ＴＶカメラ ０４ テザーケーブル ０５ 前後進用推進器 ＴO 応答時間REFERENCE SIGNS LIST 1 direction sensor 2 automatic direction control mechanism 3 rotational force calculator 4 elevating thruster tachometer 5 forward / backward thruster control amount calculator 6 forward / backward thruster control mechanism 7 direction change amount calculator 8 timer counter 01 body 02 Elevator thruster 03 TV camera 04 Tether cable 05 Forward / backward thruster TO response time
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B63G 8/14 - 8/26 B63G 8/42 B63C 11/00 B63C 11/48 Continued on the front page (58) Fields surveyed (Int. Cl. 7 , DB name) B63G 8/14-8/26 B63G 8/42 B63C 11/00 B63C 11/48
Claims (2)
複数基それぞれ装着した水中航走体において、昇降用推
進器を駆動させたときの第１の水平回転モーメントをあ
らかじめ推定し、上記第１の水平回転モーメントを相殺
する方向に上記複数基の前後進用推進器で第２の水平回
転モーメントを与え、さらに上記第１の水平回転モーメ
ントと上記第２の水平回転モーメントの差によって生ず
る上記水中航走体の実回頭力を方位センサーで検出し、
上記各前後進用推進器の推力を補正することを特徴とす
る水中航走体の方位制御装置。An underwater vehicle equipped with one elevating propulsion unit and a plurality of forward / backward propulsion units respectively estimates a first horizontal rotational moment in advance when the elevating propulsion unit is driven. Providing a second horizontal rotational moment with the plurality of forward-reverse propulsion units in a direction to cancel the first horizontal rotational moment, and further providing a difference between the first horizontal rotational moment and the second horizontal rotational moment. The actual head force of the underwater vehicle caused by the above is detected by the direction sensor,
An azimuth control device for an underwater vehicle, wherein the thrust of each of the forward and backward propulsion units is corrected.
検出し前後進用推進器の推力を補正したのち、上記方位
センサーの応答時間だけ上記補正を中断することを特徴
とする請求項１記載の水中航走体の方位制御装置。2. The method according to claim 1, wherein the actual heading force of the underwater vehicle is detected by a direction sensor to correct the thrust of the forward / backward propulsion device, and then the correction is interrupted for a response time of the direction sensor. The azimuth control device for an underwater vehicle according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35178592A JP3207572B2 (en) | 1992-12-08 | 1992-12-08 | Underwater vehicle bearing control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35178592A JP3207572B2 (en) | 1992-12-08 | 1992-12-08 | Underwater vehicle bearing control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06171592A JPH06171592A (en) | 1994-06-21 |
| JP3207572B2 true JP3207572B2 (en) | 2001-09-10 |
Family
ID=18419593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35178592A Expired - Fee Related JP3207572B2 (en) | 1992-12-08 | 1992-12-08 | Underwater vehicle bearing control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3207572B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102562280B1 (en) * | 2019-07-16 | 2023-08-01 | (주)코이즈 | Skin care device using light-radiation |
| KR102642968B1 (en) * | 2020-02-13 | 2024-03-05 | (주)코이즈 | Skin care device using light-radiation |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4253230B2 (en) * | 2003-08-08 | 2009-04-08 | 株式会社東芝 | Underwater swimming equipment |
| US8047385B2 (en) | 2004-02-03 | 2011-11-01 | Rtc Industries, Inc. | Product securement and management system |
| JP6343068B1 (en) * | 2017-05-15 | 2018-06-13 | 石井 昭良 | Underwater transport aircraft |
-
1992
- 1992-12-08 JP JP35178592A patent/JP3207572B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102562280B1 (en) * | 2019-07-16 | 2023-08-01 | (주)코이즈 | Skin care device using light-radiation |
| KR102642968B1 (en) * | 2020-02-13 | 2024-03-05 | (주)코이즈 | Skin care device using light-radiation |
| KR102642970B1 (en) * | 2020-02-13 | 2024-03-05 | (주)코이즈 | Skin care device using light-radiation |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06171592A (en) | 1994-06-21 |
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