JPS562288A - Depth controller of submarine - Google Patents
Depth controller of submarineInfo
- Publication number
- JPS562288A JPS562288A JP7859879A JP7859879A JPS562288A JP S562288 A JPS562288 A JP S562288A JP 7859879 A JP7859879 A JP 7859879A JP 7859879 A JP7859879 A JP 7859879A JP S562288 A JPS562288 A JP S562288A
- Authority
- JP
- Japan
- Prior art keywords
- depth
- deviation
- attitude angle
- change
- control
- 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.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
PURPOSE: To shorten change time and reduce excess of depth by a method wherein the feedback gain of a depth deviation signal by a bow rudder, a stern rudder is made variable according to the deviation of a depth and, further, a limiter is added according to the allowance of an attitude angle while the depth is changed.
CONSTITUTION: A bow rudder conducts parallel control, differential control, integral control on a depth deviation ΔH only, while a stern rudder conducts parallel control, differential control, integral control on an attitude angle deviation Δθ and uses a nonlinear control signal on a depth deviation. Therefore, when the depth deviation is small the feed-back gain is the same as a conventional but when the depth deviation ΔH is great the feed-back gain of the depth deviation to the stern rudder becomes great. Furthermore, in this feedback signal is provided a limiter corresponding to the hull characteristics and the attitude angle allowance when depth is changed exceedingly. Therefore, depth change is carried out at a specified attitude angle and seemingly, the depth change is controlled at an allowable attitude angle θs during exceeding depth change. Therefore, the depth change is conducted quickly and excess of depth change is reduced.
COPYRIGHT: (C)1981,JPO&Japio
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7859879A JPS562288A (en) | 1979-06-21 | 1979-06-21 | Depth controller of submarine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7859879A JPS562288A (en) | 1979-06-21 | 1979-06-21 | Depth controller of submarine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS562288A true JPS562288A (en) | 1981-01-10 |
| JPS6234593B2 JPS6234593B2 (en) | 1987-07-28 |
Family
ID=13666329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7859879A Granted JPS562288A (en) | 1979-06-21 | 1979-06-21 | Depth controller of submarine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS562288A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61110695A (en) * | 1984-11-05 | 1986-05-28 | Nec Corp | Automatic depth holder for submersible boat |
| US8979513B2 (en) | 2010-10-07 | 2015-03-17 | Sanyo Denki Co., Ltd. | Lead wire engaging structure and electric apparatus |
-
1979
- 1979-06-21 JP JP7859879A patent/JPS562288A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61110695A (en) * | 1984-11-05 | 1986-05-28 | Nec Corp | Automatic depth holder for submersible boat |
| JPH0562120B2 (en) * | 1984-11-05 | 1993-09-07 | Nippon Electric Co | |
| US8979513B2 (en) | 2010-10-07 | 2015-03-17 | Sanyo Denki Co., Ltd. | Lead wire engaging structure and electric apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6234593B2 (en) | 1987-07-28 |
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