EP1268269B1 - Method and device for operating an underwater vehicle - Google Patents

Description

The invention is directed to a method and a device for operating an underwater vehicle.

The suspended state of a submerged submarine is produced by the fact that by changing the weight of the resulting in the desired depth buoyancy buoyancy is maintained. In order to increase the weight of the boat in this case water in one or more containers of the submarine, so-called. Cells, recorded (flooding), while reducing the boat weight water from the (the) cell (s) is discharged to the outside (lenzen). Here are so-called. Control cells of coarse weight adjustment, while provided for fine adjustment so-called. Tieflenzzellen. Therefore, the latter have a comparatively low volume, while the control cells can have a capacity of many hundreds of liters. Correspondingly large is the cross-section of a pipe connection between a control cell and an opening in the boat hull dimensioned, so that a rapid change of the level in the relevant control cell is possible. On the other hand, the level in such a control cell should be as accurately as possible, so that the volume of the additional low-voltage cells can be kept as small as possible. This requirement is the problem in the way that a start and end of the flood or Lenzvorganges a control cell-determining flap in the above-mentioned pipe connection can be opened and closed only at a relatively low speed on the order of a few to about ten seconds. The respective actuation process must therefore be started early, especially when closing this flap, long before the desired level is reached in the control cell. However, this provisional timing can only be reasonably accurate be determined when the flow rate in the relevant pipe connection to the control cell always at least at the beginning of the closing process has a known value and is subjected as possible no other fluctuations. Then by multiplying this flow value with the expected closing time of the flap and possibly a factor whose variable position taken into account the probably still flowing water volume reasonably accurately precalculated and thus the level in the relevant control cell can be predicted, in which the closing operation of the flap must be initiated , On the other hand, the flow velocity in the said pipe connection to the control cell depends in particular on the pressure difference between the pressure within the control cell and the outboard water pressure and can therefore vary greatly not only with the depth, but also in particular with the level within the control cell. Thus, when the vent valve is closed, the pressure in the control cell constantly increases during the flooding, the outboard water pressure is considerably influenced by the waves, especially at low depths, etc., so that a multiplicity of factors affect the current flow velocity in the pipe connection to and from the control cell act. Therefore, it has so far been very difficult to determine the right time to initiate the closing process for the flap in the pipe joint to and from the control cell.

Such a method and such a device are known from US 5,129,348 known.

From the disadvantages of the described prior art, the problem initiating the invention results in providing a way in which the fill level in a control cell of an underwater vehicle can be predetermined as precisely as possible, so that additionally required low-clearance cells with a comparatively small volume can be formed; In particular, this should be achieved by the Vorhaltezeitpunkt for initiating the closing of a Flap in the pipe connection to and from a control cell can be determined as accurately as possible.

The solution to this problem is achieved in that the pressure difference between the pressure in a purpose of changing the vehicle weight with water and / or a gas, in particular air, fillable container on the one hand and the outboard water pressure on the other hand is controlled to a predetermined target value.

Since the volume flow rate in the flow of a viscous medium through a pipe according to the law of Hagen and Poiseuille is proportional to the pressure difference between the pipe ends, can be created by regulating this pressure difference to a preferably fixed value optimal condition for the volume flow rate of the Water remains reasonably constant through the tube from and to the relevant control cell with unchanged flap position angle. Since the influence of the flap position angle on the volume flow rate can be determined experimentally, the lead time for the initiation of the closing operation of the flap in the pipe connection to and from the control cell can be determined very accurately. Assuming an approximately constant pressure difference can be estimated from the experimentally determined value during the closing process still flowing through the valve water and from this a reserve value for the level are set, in which the closing operation for the flap is to be initiated so that at the end of the same as exactly as possible sets the desired level in the control cell.

It has proved to be advantageous that the actual value of the pressure difference between the pressure in a vehicle for the purpose of changing the vehicle weight with water and / or a gas, in particular air, fillable container on the one hand and the outboard water pressure on the other hand is measured. Of course, this pressure difference can be detected by two sensors, from one of which is assigned to the outboard water pressure and the other to the internal pressure in the relevant control cell, these sensors would preferably be arranged approximately in the vicinity of the respective pipe mouth; In this case, the pressure difference could be generated by subtracting the sensor output signals applied to or converted to identical measuring ranges. On the other hand, the measurement effort can be reduced by using a single pressure sensor for the pressure difference, the output signal of which can then be used directly as an actual value for the control loop according to the invention.

It is within the scope of the invention that the measured actual value of the pressure difference is subtracted from the predetermined desired value in order to obtain a measure for the control deviation. By this subtraction, the further task of the control loop according to the invention can be simplified to the effect that the signal for the control deviation is adjusted as possible to zero.

For this purpose, in the context of the pressure difference control according to the invention, a function which is proportional to the control deviation and whose integral and / or differential function are formed as a control signal. Such control functions allow a high precision of the control in relation to cheaper realizations such as, for example, two-point controls, which on the other hand may be applicable in individual cases. The choice of the correct controller structure as well as the determination and optimization of the controller parameters can be made with regard to desired properties such as, for example, dynamics and stability of the control.

The invention allows a development to the effect that the control signal to improve the dynamics of setpoint changes is additively linked to a derived from the setpoint, in particular by differentiation signal to a dynamic control signal. Such an arrangement makes it possible to form the actual control function without differential component, so that without setpoint changes a very quiet regulation takes place and thus the risk of instability is considerably reduced.

Furthermore, it has been proven that the possibly dynamized control signal is influenced by one or more signals. In this way, specific boundary conditions, which are to be observed in the track to be corrected, be met.

A first modification can experience the optionally dynamized control signal by a filling level measurement for the container to be filled in order to change the vehicle weight, in order thereby to obtain a level-corrected control signal. This modification takes into account the fact that at a high level in the relevant control cell only a comparatively small volume of air is present, so that even the ventilation with a comparatively small amount of air leads to strong pressure changes in the control cell, while at low cell level this the movement of considerably larger amounts of air is required. The modification could in this case be effected in such a way that the measured fill level is subtracted from the maximum fill level in order to provide a measure of the remaining air volume, and that this value proportional to the air volume is subsequently multiplied by the possibly dynamic controller output signal.

Another alternative or cumulative modification option may be derived from a pressure signal for outboard pressure to obtain a dive depth corrected control signal. This should be met especially the fact that at low depths of the waves caused by the fluctuations of the external pressure may be in the order of magnitude of the desired pressure difference and thus could give rise to extreme vibrations within the control loop according to the invention. There In unfavorable cases, this could result in instabilities, a weakening of the control signal can be made in the context of such immersion depth correction at low depths, thereby calming the control loop.

Finally, it may further be provided that the possibly dynamized level-corrected and / or dipping depth-corrected control signal is limited in order to correspond to further setpoint values, in particular with regard to the noise requirement. This limitation should also be understood in terms of a reduction of the proportionality factor at large amplitudes of the control signal, for example, to avoid strong and therefore loud control measures, which may be particularly important in military underwater vehicles.

The control concept according to the invention can advantageously be supplemented by a lower-level control for the rate of change of the pressure difference, which is communicated as the desired value to the possibly dynamized, level-corrected, diving depth-corrected and / or limited pressure difference control signal. This multi-part control structure can be used to avoid jumps in the rate of change of the pressure difference, which also causes a settling of the control loop, so that the noise generated by the arrangement can be minimized.

The actual value for the rate of change of the pressure difference required for the subordinate control loop can be determined by differentiation according to the teaching of the invention from the measured actual value of the pressure difference between the pressure in the relevant control cell on the one hand and the outboard water pressure on the other hand. Since such a differentiation can be easily implemented by means of inexpensive electronic components, a cascade control according to the invention is not a technological obstacle in the way.

A further step of the method according to the invention is that the rate of change of the pressure difference actual value is subtracted from the control signal of the higher-level control used for the pressure difference between control cell and outboard water pressure used as setpoint signal, by a measure of the control deviation of the subordinate control for the rate of change to get the pressure difference. This method step serves to simplify downstream regulation by reducing its task to zeroing out the measure of the control deviation determined in this way for the subordinate control.

Furthermore, a correction of the control deviation signal of the subordinate control for the rate of change of the pressure difference on the basis of the pressure difference setpoint can be made to improve the dynamics at setpoint changes of the predetermined pressure difference setpoint, in particular by means of a differentiation derived from the pressure difference setpoint signal. At this point too, a differential component derived from the predefinable differential pressure set point can be looped in, since as a result of the subordinate control loop for the rate of change of the pressure difference actual value, a sudden change in this controlled variable can be avoided.

Also in the context of the subordinate control for the rate of change of the pressure difference can be advantageous to form the possibly dynamized control deviation whose integral and / or differential proportional function as a control signal for the rate of change of the pressure difference. To avoid sudden changes in the controlled variables, the differential component should not be too large or even omitted.

In a further development of the concept of the invention, it can further be provided that the control signal in particular for the rate of change the pressure difference control signals for a valve disposed upstream of the container connection for a gaseous pressure medium vent valve on the one hand and for a downstream of the container port for the pressure medium arranged vent valve on the other hand are derived. The controlled system according to the invention has the peculiarity that for an increase in the cell pressure, the vent valve must be opened, wherein a downstream thereof arranged vent valve should be closed to prevent pressure losses, while on the other hand should be closed when opening the vent valve in order to reduce the cell pressure, the vent valve. Accordingly, control signals for two actuators must be generated from the control signal relevant for influencing the route, one of the actuators designed as valves being associated with one of the two possible polarities of the relevant control signal.

The control signals to be generated from the relevant control signal should be such that they bring about a continuous adjustment of the relevant valve. As a result, the strength of the air flow can be continuously influenced, so that a very soulful and thus extremely stable control can be achieved.

The actual position of the ventilation valves to be actuated may in turn deviate from the desired position according to the control signals due to fluctuating boundary conditions, for example as a result of production-related tolerances, voltage fluctuations, corrosion-induced increase of friction coefficients, wear, etc. Nevertheless, the valves are exactly in the To be able to move desired position, the invention further provides that the current valve positions are detected. Thus, the regulation or control circuit according to the invention receives a feedback signal, which gives this information about whether the calculated valve position values have actually been approached.

The feedback of the current valve positions also allows mutual locking of the two valves, such that the control signals for one valve are linked to the current valve position of the other valve. This can ensure that one valve is opened only when the other is completely closed to avoid pressure losses.

Another, preferred feature of the invention is that the control signals for the valves are obtained from the optionally modified by locking control signal in particular for the rate of change of the pressure difference by a respective subordinate valve position control. Such a position control for the active part of the ventilation valve ensures a highly precise adjustment, wherein the respective required control signals are generated individually in the required for the relevant valve position amplitude by the respective control loop.

Also in the context of a valve position control, the detected valve position value should be subtracted from the control signal used as a setpoint, possibly modified by locking, in particular for the rate of change of the pressure difference in order to obtain a measure for the system deviation. If this signal for the control deviation is adjusted to zero, then the valve in question has taken the position determined by the higher-level control signal, and the higher-level control circuit can always assume optimum compliance with the required valve positions, even if in detail the electrical or mechanical parameters of affected valves differ from each other.

The control deviation can be minimized in particular by the fact that, as part of the valve position control, a function that is proportional to the control deviation of the valve position, its integral and / or differential as a control signal for the relevant valve is formed. In particular, an integral component in this case means that the control signal is raised or lowered until the valve has assumed its predetermined position and thereby the control deviation has become zero.

To carry out the method according to the invention, an underwater vehicle according to the invention must be equipped with a correspondingly constructed device. This is characterized by a circuit for controlling the pressure difference between the pressure in a purpose of changing the vehicle weight with water and / or a gas, in particular air, fillable container on the one hand and the outboard water pressure on the other hand to a predetermined desired value.

Such a circuit arrangement can be realized in many different ways. On the one hand, it is possible to mechanically construct the individual components of this circuit; For weight and space savings, however, with the exception of the sensors and actuators and electrical or electronic components can be used, and finally, a summary of these components to an integrated circuit is possible, which may also be designed as a programmable device, its function by a receives special control program. Common to all such control concepts is that the internal pressure in the relevant control cell is influenced via one or more actuators such that it is always tracked to the outboard water pressure with an offset corresponding to the predefinable pressure difference setpoint. In this case, the actuators and the deaeration valve for the relevant control cell serve as actuators influenced by this circuit, and an actual value signal required for the feedback is generated by one or more pressure sensors.

Although the pressure difference actual value can also be generated by means of separate pressure sensors for the control cell pressure on the one hand and the outboard water pressure on the other hand, the invention prefers the use of a single sensor for the pressure difference between the pressure in the control cell on the one hand and the outboard water pressure on the other hand. Since such differential pressure sensors only require a small additional design effort, on the other hand, the susceptibility is reduced by a reduction of components, this arrangement deserves the advantage. Also, the calibration effort is reduced and an electronic subtraction module is also eliminated.

Further advantages are provided by a device for subtracting an output signal from the sensor for the pressure difference between the tank internal pressure and the outboard water pressure from a predetermined desired value signal. This device thus generates a signal for the current control deviation, which can be adjusted to zero under control of the actual value.

In the context of the control circuit according to the invention, the output signal of the subtraction device for the setpoint and actual value of the pressure difference can be fed to the input of a controller module whose output signal is proportional to its input signal whose integral and / or differential. In this case, the integral component preferably serves to permanently correct the control difference exactly to zero, while a differential component, while improving the dynamics of the control loop, but on the other hand should be kept rather small to avoid instabilities or to dampen any oscillations triggered by the sea state, etc. ,

As a further component of the control circuit according to the invention, an addition device may be provided, in which the output signal of the pressure difference control module one of the pressure difference setpoint in particular by differentiation derived signal is added to obtain a dynamized control signal. This measure can be used to generate a selectively responsive to setpoint changes dynamics, while rapid changes in the actual value, which can be faked in particular by the sea state are attenuated by omitting a differential component in the controller according to the invention or at least not amplified.

As already explained above, the properties of the controlled system are influenced by a large number of further factors, and in order to adapt the control signal here, at least one module for modifying the control signal can be arranged downstream of the controller module or the addition unit connected to the output side by means of one or more signals , These modification modules can act on the control signal in a variety of ways: amplifying, attenuating, limiting, etc.

The control signal can, for example, be modified by a module to which the output signal of a sensor for the fill level in the relevant control cell is supplied. By this modification module receives information about the current level in the relevant control cell, this can adjust the control signal corresponding to the remaining air volume, and this module can be designed for this purpose as a multiplier, which multiplies the control signal with a proportional to the remaining air volume factor.

At the signal input of another block for possibly further modification of the control signal, the output signal of a sensor for the outboard water pressure can be connected, whereby this Modifikationsbaustein can determine at least approximately the current depth. Its task is to attenuate the control signal at low depths and thereby vibrations in the control loop, such as they are triggered by the sea state at such shallow diving depths, to dampen. It can therefore have a transfer function, which has the value 1 for larger diving depths, but smaller than 1 for smaller diving depths.

Another turn, another block, which is preferably used to limit the possibly modified control signal, has an input for a predetermined or specifiable setpoint signal with respect to the noise request. According to this noise target value, the control signal can be throttled or attenuated by limiting, so that all actions of the control loop are carried out with reduced intensity and thereby both abrupt switching changes as well as strong air and / or water movements are avoided.

To improve the control characteristics, the invention provides a cascade control, with a subordinate circuit for controlling the rate of change of the pressure difference whose setpoint input is supplied to the possibly modified output signal of the pressure difference control module. Such a controller structure has the advantage that the rate of change of the pressure difference is not largely left to itself, but is tracked as exactly as possible a possibly influenced by the various modification modules setpoint signal. In this way, a further intervention point is created, on the one hand, the above-described Modifikationsbausteine can be coupled, and on the other hand, the management behavior of the respective control loops by optimized controller structures and / or parameters can be specified independently by a separation of the controller for the parent and subordinate control loop ,

It is within the scope of the invention that the output signal of the sensor for the pressure difference between the pressure in the relevant control cell on the one hand and the outboard side On the other hand, water pressure is supplied to a module which calculates the time differential therefrom. With this module, it is possible to determine from the preferably continuously measured actual value of the pressure difference between the control cell and outboard water pressure an actual value for the rate of change of this pressure difference. In this case, this block can be designed as an analog differentiator, so that the differential is determined almost instantaneously and at any time, on the other hand, it is also possible to take samples of the Druckdifferenzistwertsignal at short intervals, to digitize them and from the difference of successive digital values, the differential determine.

The further processing of this actual value signal for the rate of change of the pressure difference takes place in a subtraction device, where this signal is subtracted from the possibly modified output signal of the pressure difference control module to obtain a signal for the control deviation of the lower-level control circuit for the rate of change of the pressure difference. As a result, a signal is created whose absolute value of the amplitude is a criterion for the distance of the actual operating point from the desired operating point and is to be adjusted by a controller module by changing the operating point of the track to zero.

The cascade control according to the invention offers the further possibility of adding to the signal for the control deviation of the subordinate control circuit for the rate of change of the pressure difference a signal derived from the pressure difference setpoint signal, in particular by differentiation, in order to obtain a dynamized control deviation signal for the subordinate control loop. This is preferably performed in an adder to which the respective signals are supplied; If necessary, this addition device can also be used with the subtraction device for the formation of the control deviation be integrated by the lower-level control loop, for example. By parallel connection of multiple inputs to the inverting and / or non-inverting input of an operational amplifier. By providing a coupling possibility for a differential component obtained from the pressure difference setpoint signal, this can be passed on the one hand to the higher-order controller to reduce its tendency to oscillate, on the other hand jumps of the control deviation signal for the subordinate control loop resulting from this differential component can be replaced by a corresponding design of the subordinate controller are largely kept away from the actuators so that their operating speed does not exceed a predetermined value.

In a further development of the concept of the invention, the controller module of the subordinate control circuit can be constructed such that its output signal is proportional to the applied at its input, possibly dynamized control deviation signal for the rate of change of the pressure difference; alternatively or cumulatively thereto, a proportion proportional to the integral and / or differential of its input signal can also be contained in the output signal. Such control structures are known in the art and studied well. By different weighting of the different parts in the controller function, the controller can be adapted to the relevant route; For example, in order to avoid jumps in the controller output signal, the differential and possibly also the proportional component may be provided with a small weighting factor.

The pressure in the control cell can be increased by opening a compressed air valve upstream of the container connection for filling it with a gaseous pressure medium, in particular compressed air, so that the pressure medium can flow from a reservoir pressure vessel into the relevant control cell; On the other hand, the pressure in the control cell can be by lowering a vent valve disposed downstream of the tank port for venting thereof, so that the compressed air in the control cell can escape into the boat atmosphere. These valves are controlled by signals which are generated by a module corresponding to the output signal of the controller module, in particular for the rate of change of the pressure difference. It is thus the task of this module to convert the amplitude value of the controller output signal into signals adapted in terms of potential and power to the valves.

By - as the invention further provides - the loading and the vent valve is continuously adjustable, the opening cross-section of the valves in question can be changed continuously, so that a quick response is possible without this one or both valves would have to be completely switched. For a control structure with a subordinate regulator for the rate of change of the pressure difference, a correspondingly continuous adjustability of the valves is absolutely essential, since the time constant of the air flow which builds up or breaks down is small compared to the actuation time of a valve.

Further advantages can be achieved by using sensors for detecting the current valve positions of the loading and the vent valve. The output signals of these sensors provide information as to whether the actuated valves have assumed the desired position, or whether, for example due to parameter variations, increased friction coefficients, etc., a deviation from the predetermined value has occurred.

The use of two separate valves for the ventilation of the respective control cell offers over a reversible valve the advantage that an overflow of precious water under the compressed air reservoirs can be avoided directly in the boat atmosphere. This succeeds however, only if it is ensured that both valves are never opened at the same time. This purpose is served in the context of the assembly for generating drive signals for the loading and the vent valve circuit provided which locks the control signals for a valve with the sensor signal for the current valve position of the other valve. This circuit ensures that when switching the flow path from one valve to the other, only the complete closing of the previously opened valve is awaited, until then the other valve receives an opening command.

In order to compensate for the variations of the actual valve position relative to the respective predetermined value due to the manifold factors, lower control loops for the valve position of the loading and / or the venting valve should be provided within the control module for generating control signals for the loading and venting valve. By a suitable design of these subordinate control loops, it can be ensured that the actual valve position always and to a sufficient extent coincides with the predetermined value, so that the upstream control loop may presuppose an idealized function of the actuators. This is also important insofar as aging phenomena such as, for example, corrosion caused by the aggressive sea air in the area of the valves, etc., are eliminated from the controlled system.

The first component of a control circuit according to the invention for the valve position of the supply and / or vent valve is in each case a block for subtracting the output signal of the relevant valve position sensor from the setpoint used for the valve position, possibly locked control signal in particular for the rate of change of the pressure difference, which provides at its output a signal for the deviation of the position of the valve in question. The amplitude of this output signal contains information about the distance between the current valve position relative to the desired valve position can thus be used for correction.

Finally, it is the teaching of the invention that the control deviation signal of the subordinate control circuit for the valve position is supplied to the input of a controller module whose output signal is particularly proportional to its input signal whose integral and / or differential. Again, the invention thus provides a continuously operating controller, which provides with sufficient dynamics, but without overshoot for an identity between Ventilstellungssoll- and actual value.

FIG 1

einen Verrohrungsplan mit den für die Erfindung wichtigen Komponenten eines Unterwasserfahrzeugs; sowie

FIG 2

ein Blockschaltbild des erfindungsgemäßen Regelschaltkreises.

Further features, details, advantages and effects on the basis of the invention will become apparent from the following description of a preferred embodiment of the invention and from the drawing. Hereby shows:

FIG. 1

a piping plan with the components of an underwater vehicle important to the invention; such as

FIG. 2

a block diagram of the control circuit according to the invention.

The boat hull 1 separates the interior 2 of the underwater vehicle from the surrounding masses of water 3.

In order to stabilize the underwater vehicle 1, 2 at a desired depth in a suspended state, at least one control cell 4 is provided. In addition to the rough weight compensation of the underwater vehicle 1, 2 serving control cell 4 also other, in particular the fine adjustment serving Tieflenzzellen, which are not shown in the drawing, may be present.

The control cell 4 has a volume of many hundreds of liters, and it is via a pipe 5 with an opening 6 in the boat hull 1, so that it can be filled with water 7. The inflow is made possible by the opening of a flap 8 in the tube 5, and the amount of water flowing through can be monitored by a also arranged in the tube 5 flow meter 9. The filling of the control cell 4 with water 7 (flooding) increases their weight and thus the weight of the underwater vehicle 1, 2, so that an increased buoyancy in larger depths of the balance can be maintained. On the other hand, to stabilize the underwater vehicle 1, 2 in lower depths the control cell 4 can be emptied (Lenzen), thereby reducing their weight and thus the weight of the underwater vehicle 1, 2.

The desired mass movement (flooding or Lenzen the control cell 4) is effected at each open flap 8 by adjusting the pressure in an air cushion 10, which is located above the water level 11 in the control cell 4. For this purpose, an air inlet or outlet 13 is provided in the top 12 of the control cell 4, which is connected via a closable with a valve 14 vent pipe 15 with a leading into the boat atmosphere 2 pipe mouth 16. By opening this vent valve 14, the air 10 can escape from the control cell 4, so that a pressure equalization with the pressure in the boat atmosphere 2 can take place down to the prevailing atmospheric pressure there. If now the flap 8 is opened, then the contrast increased, outboard water pressure through the pipe connection 5 presses water 7 into the control cell 4, so that it is flooded.

On the other hand, the air inlet and outlet 13 of the control cell 4 is connected to a further, closable by a valve 17 tube 18, which is coupled via a pressure reducer 19 with one or more compressed air storage tanks 20. Such a reservoir 20 may be, for example, a group of compressed air cylinders which, in the surfaced state of the underwater vehicle, are connected by means of a compressor can be filled. As a result, prevails in the compressed air storage reservoir 20 depending on the degree of filling a pressure of about 180 to 250 bar, which is reduced by the pressure reducer 19 to an air pressure of about 50 bar in the vent tube 18. Under the action of this overpressure, compressed air 20 flows into the control cell 4 when the venting valve 17 is open and increases the pressure in the air cushion 10 there. If this pressure exceeds the outboard water pressure 3, the water 7 flows out of the control cell 4 when the flap 8 is open (Lenzen) ,

An important boundary condition for the actuation of the valves 14, 17 is that never both valves 14, 17 should be opened at the same time, since in such a case the compressed air 20 would escape at high speed into the boat atmosphere 2 and thus the compressed air reservoir 20 could quickly exhaust itself.

It should also be noted that the flooding of the control cell 4 should be avoided in a vented state, since in such case the water 7 flows through the tube 5 at a very high speed and thus also with high noise.

Finally, it should also be noted that the flap 8, which is arranged in the tube 5 "from and to the control cell", represents a comparatively sluggish structure which requires several seconds (for example 10 seconds) to close completely or open, during the even large amounts of water 7 can flow into or out of the control cell 4, so that in particular the closing operation of the flap 8 already has to be initiated at a time to which the level 11 in the control cell 4 does not yet correspond to the desired value. The time offset by which the closing command must be preferred is largely constant, but the amount of water 7 still flowing through during this closing phase also depends in particular on the pressure difference between the internal pressure of the control cell 4 and the outboard side 3 water pressure. The greater this pressure difference, the greater will be the flow velocity in the tube 5 and, consequently, the still flowing amount of water 7 will vary. Due to a variety of factors, the residual flow rate 9 can not be calculated without great mathematical effort, and yet there is no guarantee that not still significant deviations occur.

Since the pressure difference between the control cell 4 and the outboard water pressure 3 is of crucial importance for the residual flow rate 9 when closing the flap 8, the invention provides to keep this pressure difference within a control as constant as possible, so for the residual flow 9 when closing the flap 8, an experimentally determined value can be used, which can also be converted into a level deviation, in which then the closing operation of the flap 8 is to be initiated.

In order to adjust the pressure difference between the control cell 4 and the outboard water pressure 3, a differential pressure sensor 21 is provided which communicates for this purpose via pipe connections 22, 23 with the control cell 4 on the one hand and an opening 24 in the boat hull 1 on the other hand and thereby of two Pages with the different pressure levels 3, 4 is applied. Of course, the tube 23 may be connected to the mouth portion 6 of the tube 5 instead of the boat hull 1.

The task of the control is, depending on the measured pressure difference 21 by actuation of the ventilation valves 17, 14, the pressure of the air cushion 10 in the control cell 4 the outboard water pressure 3 nachzuführen so that the pressure difference 21 always corresponds to a predetermined setpoint 25. If this succeeds, the residual flow rate 9 through the tube 5 when closing the flap 8 is independent of the level 11 in the control cell 4 constant, and when using an experimentally determined Vorhaltewertes for initiating the closing of the flap 8 can be achieved with good approximation that the final adjusting control cell level 11 corresponds fairly accurately to the desired level. Thus, there is no difficulty to adjust the weight of the underwater vehicle 1, 2 in a defined extent and thereby bring about stabilization at different depths.

The structure of the control circuit 26 according to the invention for the pressure difference between the control cell 4 and the outboard water pressure 3 is shown in FIG FIG. 2 played.

It can be seen a setpoint generator 25, which can either be set manually or fixed or, for example. From the output signal of a higher-level control loop for the flow rate or volume 9 in the tube 5 from and to the control cell 4 can be tapped.

From this setpoint signal 25, the actual value delivered by the differential pressure transducer 21 is subtracted 27 in order to generate a signal 28 proportional to the current control deviation. If a downstream controller 29 succeeds in correcting this control deviation signal 28 to zero, optimum conditions for a defined actuation of the flap 8 from and to the control cell 4 are created.

In the context of the control module 29 different structures can be used, but preferably a controller with proportional and integral component is used here, since such a sufficient dynamics is capable of a control deviation permanently to zero. It may be possible to dispense with a differential component at this point in order to calm the control as far as possible. Instead, the output signal 30 of the controller 29, the signal of a feedforward block 31 are superposed additively 32, whereby, for example, the dynamics of changes in the setpoint 25 is improved. For this purpose, the feedforward control 31 may, for example, be designed as a differentiating component.

Furthermore, the thus dynamized control signal 33 can be modified in further, downstream modules and thereby adapted to the current boundary conditions.

In this context, it is possible within the scope of a first modification module 34 to link with the output signal 35 of a sensor 36 for the filling level 11 in the control cell 4. Thus, the fact can be taken into account that with increasing level 11, the volume of the air cushion 10 decreases and therefore already contribute smaller, inflowing or outflowing amounts of air to each increased pressure changes in the control cell 4. Here, a correction can be achieved by the volume of the air cushion 10 is calculated by subtracting the currently measured level 36 of the maximum filling state of the control cell 4 and then this value, for example. Multiplicatively linked to the control signal 33, so with large air cushion 10 with a correspondingly large control signal 37, a correspondingly wide modulation of the valves 14, 17 is effected, while at high level 36, the valve control is withdrawn accordingly.

A second, preferably connected in series modification module 38 receives in addition to the level-corrected control signal 27, the output signal 39 of a sensor 40 for the outboard water pressure 3. With this information, the modification module 38 can estimate about the current depth of the underwater vehicle 1, 2. Its predominant task is to effect a weakening of the control signal 41 at low depths, so that the regulation does not start to oscillate despite the influence of the swell, which is very noticeable in this area.

Another modification module 42 is coupled with the diving depth-corrected control signal 41 on the one hand and with a desired value generator 43, to which the current noise requirement is adjustable, on the other hand. According to the herein preselectable noise reduction, the control signal 44 can be additionally limited so that the valves 14, 17 are opened only to a limited extent and thus produce only a minimal noise.

According to the teachings of the invention, however, the thus modified control signal 44 is not used directly to drive the valves 14, 17, but rather as a setpoint for controlling the rate of change of the pressure difference 21. To obtain a current comparison value here, is of the measured pressure difference 21st formed in a downstream block 45, a differential function to receive in this way an actual value signal 46 for the rate of change of the pressure difference 21. This actual value 46 is subtracted by a subtraction module 47 from the modified control signal 44 used as a setpoint in order to provide a signal 48 for the system deviation.

Alternatively or cumulatively to the looping-in of the output signal 49 of the pilot control module 31 at the output 30 of the controller 29, this can also be additively added to the system deviation signal 48, preferably at an input of the subtraction module 47 parallel to the setpoint signal 44.

The thus possibly dynamized control deviation signal 48 is communicated to the input 50 of a subordinate regulator 51, which is responsible for acting on the controlled system 4 by generating a suitable control signal 52 such that the actual value 46 for the rate of change of the pressure difference 21 in the stationary state is as accurate as possible the setpoint signal 44 matches. Also, the controller 51 of the subordinate speed change control loop 46 of the pressure difference 21 may be constructed with a proportional and integral and possibly also a differential component, but the latter can also be omitted for reassurance of the control loop behavior.

Connected downstream of the controller 51 is a control assembly 53 whose task is to convert the control signal 52 of the subordinate regulator 51 into activation signals 54, 55 for the adjusting devices 56, 57 of the air control valves 14, 17.

Here, as already mentioned, care must be taken that the two valves 14, 17 are never opened at the same time, since otherwise the compressed air 20 would escape unused into the boat atmosphere 2. For this purpose, a valve position sensor is assigned to each of the two valves 14, 17 whose output signals 58, 59 are fed back to the control module 53. There, they may be used by a latch assembly 60 to release a valve opening set point 61, 62 derived from the controller output signal 52 only when the respective other valve 14, 17 has been definitively closed before the relevant feedback signal 58, 59.

Furthermore, the valve opening setpoint value 61, 62 generated in this way is not switched directly to the adjusting device 56, 57 of the relevant valve 14, 17, but as a setpoint to a valve position controller 63, 64, which also receives the feedback signal 58, 59 of the relevant valve position sensor , From this, the valve position regulator 63, 64 can determine the deviation of the current valve position 58, 59 from the valve opening setpoint 61, 62 originating from the lock assembly 60 and generate corresponding control signals 54, 55 for the actuating device 56, 57 of the relevant valve 14, 17 in accordance with a defined control function , This makes it possible to always maintain the desired valve position value, regardless of whether the valves due to aging, corrosion or other influences show different characteristics. If the subordinate valve position controllers 63, 64 also receive an integral component in addition to a proportional component, it is ensured that the actual valve positions 58, 59 coincide with the predetermined position reference values 61, 62 in the stationary state, so that the higher-level controller 51 determines the rate of change of the pressure difference 21 thereof can assume that its regulator output signal 52 the air control valves 14, 17 is impressed. Aging phenomena of the valves or other devices are therefore excluded, and the control circuit 26 of the invention operates over many years of extremely reliable.

For the various modules of the controller 26 discrete, analog operating electronic modules can be used, but also an implementation of one, several or all signal processing modules as a computer program in a data processing system is possible. In this case, the mostly analog signals of the sensors 21, 36, 40, 58, 59 as well as the desired values 25, 43 predetermined by means of potentiometers, for example, can be digitized via analog-to-digital converters and then read in bitwise. The output signals, for example, the valve position controller 63, 64 can then be converted by means of digital-to-analog converters into corresponding voltage levels, which are then adjusted by means of downstream amplifier performance of the adjusting devices 56, 57.

Claims (42)

1. Method for operating an underwater vehicle (1, 2), characterized in that the pressure difference (21) between, on the one hand, the pressure in a container (4) that can be filled with water (7) and/or a gas, in particular air (10), for the purpose of varying the vehicle weight and, on the other hand, the outboard water pressure (3) is regulated (26) to a prescribable setpoint (25).
2. Method according to Claim 1, characterized in that the actual value of the pressure difference (21) between, on the one hand, the pressure in a container (4) that can be filled with water (7) and/or a gas, in particular air (10), for the purpose of varying the vehicle weight and, on the other hand, the outboard water pressure (3) is measured.
3. Method according to Claim 1 or 2, characterized in that the measured actual value (21) of the pressure difference is subtracted (27) from the prescribed setpoint (25) in order to obtain a measure (28) of the system deviation.
4. Method according to one of Claims 1 to 3, characterized in that, in the course of the regulation (26) for the pressure difference (21), a function proportional to the system deviation (28), its integral and/or differential is formed (29) as regulating signal (30).
5. Method according to one of the preceding claims, characterized in that, in order to improve the dynamics in the event of setpoint changes (25), the regulating signal (30) is combined additively (32) with a signal (49), derived from the setpoint (25) in particular by differentiation (31), to form a dynamized regulating signal (33).
6. Method according to one of the preceding claims, characterized in that the, if appropriate dynamized, regulating signal (30; 33) is influenced by one or more signals (35; 39; 43).
7. Method according to one of the preceding claims, characterized in that the, if appropriate dynamized, regulating signal (30; 33) is modified (34) by a filling level measured value (35, 36) for the container (4) that can be filled for the purpose of varying the vehicle weight, in order to obtain a regulating signal (37) corrected for filling level.
8. Method according to one of the preceding claims, characterized in that the regulating signal (30; 33; 37), if appropriate dynamized and/or corrected for filling level, is modified (38) by a pressure signal (39, 40) for the outboard pressure (3), in order to obtain a regulating signal (41) corrected for diving depth.
9. Method according to one of the preceding claims, characterized in that the regulating signal (30; 33; 37; 41), if appropriate dynamized, corrected for filling and/or corrected for diving level, is bounded (42) in order to correspond to further setpoints (43), in particular with regard to the noise requirement.
10. Method according to one of the preceding claims, characterized in that the pressure difference regulating signal (30; 33; 37; 41; 44), if appropriate dynamized, corrected for filling level, corrected for diving depth, and/or bounded, is used as setpoint for a lower-level regulation (51) for the rate of change (46) of the pressure difference (21).
11. Method according to one of the preceding claims, characterized in that the rate of change (46) of the pressure difference actual value (21) is calculated by differentiation (45) from the measured actual value (21) of the pressure difference between, on the one hand, the pressure in the relevant container (4) and, on the other hand, the outboard water pressure (3).
12. Method according to one of the preceding claims, characterized in that, in order to obtain a measure (48) of the system deviation of the lower-level regulation (51) for the rate of change (46) of the pressure difference (21), the rate of change (46) of the pressure difference actual value (21) is subtracted from the regulating signal (44), used as setpoint signal and modified, if appropriate, of the higher-level regulation (29) for the pressure difference (21) between, on the one hand, the pressure in a container (4) that can be filled for the purpose of varying the vehicle weight, and, on the other hand, the outboard water pressure (3).
13. Method according to one of the preceding claims, characterized in that, in order to improve the dynamics in the event of setpoint changes (25), the system deviation (48) of the lower-level regulation (51) for the rate of change (46) of the pressure difference (21) is combined additively (47) with a signal (49) derived from the pressure difference setpoint (25), in particular by differentiation (21), to form a dynamized system deviation signal (48).
14. Method according to one of the preceding claims, characterized in that, in the course of the lower-level regulation (51) for the rate of change (46) in the pressure difference (21), a function proportional to the possibly dynamized system deviation (48), its integral and/or differential is formed (51) as regulating signal (52) for the rate of change in the pressure difference.
15. Method according to one of the preceding claims, characterized in that the regulating signal (52), in particular for the rate of change in the pressure difference is used to derive (53) drive signals (54, 55) on the one hand for a ventilation valve (17) arranged upstream of the container connection (13) for a gaseous pressure medium (20), and on the other hand for a bleed valve (14) arranged downstream of the container connection for the pressure medium (10).
16. Method according to one of the preceding claims, characterized in that the drive signals (54, 55) for the valves (14, 17) effect a continuous adjustment (56, 57) of the same.
17. Method according to one of the preceding claims, characterized in that the current valve positions are detected (58, 59).
18. Method according to one of the preceding claims, characterized in that the drive signals (54, 55) for the valves (14, 17) are interlocked (60) with the current valve position (59, 58) of the respective other valve (17, 14).
19. Method according to one of the preceding claims, characterized in that the drive signals (54, 55) for the valves (14, 17) are obtained from the regulating signal (52), if appropriate modified by interlocking (60), in particular for the rate of change in the pressure difference by one lower-level valve position regulation (63, 64) each.
20. Method according to one of the preceding claims, characterized in that, in the course of a valve position regulation (63, 64), the detected valve position value (58, 59) is subtracted from the regulating signal used as setpoint (61, 62) and modified by interlocking, if appropriate, in particular for the rate of change in the pressure difference, in order to obtain a measure of the system deviation.
21. Method according to one of the preceding claims, characterized in that, in the course of the valve position regulation (63, 64), a function proportional to the system deviation of the valve position (58, 59), its integral and/or differential is formed as drive signal (54, 55) for the relevant valve (14, 17).
22. Apparatus for carrying out the method according to one of the preceding claims, characterized by a circuit (26) which regulates the pressure difference (21) between, on the one hand, the pressure in a container (4) that can be filled with water (7) and/or a gas, in particular air (10), for the purpose of varying the vehicle weight and, on the other hand, the outboard water pressure (3) to a prescribable setpoint (25).
23. Apparatus according to Claim 22, characterized by a sensor (21) for the pressure difference between, on the one hand, the pressure in a container (4) that can be filled with water (7) and/or a gas, in particular air (10), for the purpose of varying the vehicle weight, and, on the other hand, the outboard water pressure (3).
24. Apparatus according to Claim 23, characterized by a device (27) for subtracting the output signal of a sensor (21) for the pressure difference between the container internal pressure (4) and the outboard water pressure (3) from a prescribable setpoint signal (25).
25. Apparatus according to Claim 24, characterized in that the output signal (28) of the subtraction device (27) for the setpoint and actual value (25, 21) of the pressure difference is fed to the input of a controller module (29) whose output signal (30) is proportional to its input signal (28), the integral and/or differential thereof.
26. Apparatus according to Claim 25, characterized in that a signal (49) derived from the pressure difference setpoint (25), in particular by differentiation (31), is added in an addition device (32) to the output signal (30) of the pressure difference controller module (29) in order to obtain a dynamized regulating signal (33).
27. Apparatus according to one of Claims 22 to 26, characterized by at least one module (34, 38, 42), connected downstream of the controller module (29) or the addition device (32) connected to the latter on the output side (30) thereof, for modifying the regulating signal (30; 33) with the aid of one or more signals (35, 39, 43).
28. Apparatus according to Claim 27, characterized by a sensor (36) for the filling level (11) in the container (4), whose output signal (35) is fed to a module (34) for the, if appropriate further, modification of the regulating signal (30; 33).
29. Apparatus according to one of Claims 27 or 28, characterized by a sensor (40) for the outboard water pressure (3), whose output signal (39) is fed to a module (38) for the, if appropriate further, modification of the regulating signal (30; 33; 37).
30. Apparatus according to one of Claims 27 to 29, characterized by a prescribed or prescribable setpoint signal (43) with regard to the noise requirement, that is fed to a module (42) for bounding the, if appropriate modified, regulating signal (30; 33; 37; 41).
31. Apparatus according to one of Claims 22 to 30, characterized in that the, if appropriate modified (34, 38, 42), output signal (30; 33; 37 41; 44) of the pressure difference controller module (29) is fed to the setpoint input valve a lower-level circuit for regulating (51) the rate of change in the pressure difference.
32. Apparatus according to Claim 31, characterized in that the output signal of the sensor (21) for the pressure difference between, on the one hand, the pressure in a container (4) that can be filled with water (7) and/or a gas, in particular air (10), for the purpose of varying the vehicle weight and, on the other hand, the outboard water pressure (3) is fed to a module (45) that calculates the differential (46) therefrom.
33. Apparatus according to Claim 32, characterized by a device (47) for subtracting the output signal (46) of the module (45) for determining the differential of the pressure difference actual value (21) from the, if appropriate modified, output signal (30; 33; 37; 41; 44) of the pressure difference controller module (29), in order to obtain a signal (48) for the system deviation in the lower-level regulating circuit (51) for the rate of change in the pressure difference.
34. Apparatus according to Claim 33, characterized in that a signal (49) derived from the pressure difference setpoint signal (25), in particular by differentiation (31), is added in an addition device (47) to the signal (48) for the system deviation in the lower-level regulating circuit (51) for the rate of change in the pressure difference, in order to obtain a dynamized system deviation signal (48) of the lower-level regulating circuit (51) for the rate of change in the pressure difference.
35. Apparatus according to one of Claims 33 or 34, characterized in that the, if appropriate dynamized, system deviation signal (48) of the lower-level regulating circuit (51) for the rate of change in the pressure difference is fed to the input of a controller module (51) whose output signal (52) is proportional to its input signal (50), the integral and/or differential thereof.
36. Apparatus according to one of Claims 22 to 35, characterized in that a ventilation valve (17) is provided upstream of the container connection (13) for filling the same with a gaseous pressure medium, in particular compressed air (20), and a bleed valve (14) is provided downstream of the container connection (13) for bleeding the latter, and in that the output signal (52) of the controller module (51) in particular for the rate of change in the pressure difference is fed to an assembly (53) for generating drive signals (54, 55) for the ventilation and the bleed valves (14, 17).
37. Apparatus according to Claim 36, characterized in that the ventilation and the bleed valves (17, 14) are continuously adjustable valves.
38. Apparatus according to Claim 37, characterized by sensors for detecting the current positions (58, 59) of the ventilation and the bleed valves (17, 14).
39. Apparatus according to Claim 38, characterized in that provided within the scope of the assembly (53) for generating drive signals (54, 55) for the ventilation and the bleed valves (17, 14) is a circuit (60) that interlocks the drive signals (61, 62) for a valve (14, 17) with the sensor signal (59, 58) for the current valve position of the respective other valve (17, 14).
40. Apparatus according to one of Claims 38 to 39, characterized in that, within the scope of the assembly (53) lower-level regulating circuits (63, 64) for the valve position of the ventilation and/or the bleed valves (17, 14) are provided for generating drive signals (54, 55) for the ventilation and the bleed valves (17, 14).
41. Apparatus according to Claim 40, characterized by a module for subtracting the output signal (58, 59) of the relevant valve position sensor from the, if appropriate interlocked (60), regulating signal (61, 62) in particular for the rate of change in the pressure difference, in order to obtain a signal for the system deviation of the position of the relevant valve (14, 17).
42. Apparatus according to Claim 41, characterized in that the system deviation signal of the lower-level regulating circuit (63, 64) for the valve position (56, 57) is fed to the input of a controller module whose output signal (54, 55) is, in particular, proportional to its input signal, the integral and/or differential thereof.

Images