ES2064436T3 - Sistema que incluye un piloto automatico, con un simulador para un vehiculo que se traslada en un fluido. - Google Patents

Sistema que incluye un piloto automatico, con un simulador para un vehiculo que se traslada en un fluido.

Info

Publication number
ES2064436T3
ES2064436T3 ES89303864T ES89303864T ES2064436T3 ES 2064436 T3 ES2064436 T3 ES 2064436T3 ES 89303864 T ES89303864 T ES 89303864T ES 89303864 T ES89303864 T ES 89303864T ES 2064436 T3 ES2064436 T3 ES 2064436T3
Authority
ES
Spain
Prior art keywords
provides
simulator
variables
automatic pilot
state
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 - Lifetime
Application number
ES89303864T
Other languages
English (en)
Inventor
Thomas Brindley Booth
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems Electronics Ltd
Original Assignee
GEC Marconi Ltd
Marconi Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by GEC Marconi Ltd, Marconi Co Ltd filed Critical GEC Marconi Ltd
Application granted granted Critical
Publication of ES2064436T3 publication Critical patent/ES2064436T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

SISTEMA (FIG. 1) QUE TIENE UN PILOTO AUTOMATICO, CON UN SIMULADOR (14) Y PARA UN SUBMARINO, QUE INCLUYE UNA PARTE FISICA (10), CON ELEMENTOS QUE REPRESENTAN LA DINAMICA EN RELACION A VARIABLES DE ESTADO, PARA LA OBTENCION DE UNA PROFUNDIDAD ESTABLECIDA, SIENDO AFECTADA ASIMISMO LA DINAMICA POR FUERZAS PERTURBADORAS EXTERNAS, Y UN ELEMENTO DE MEDICION (12) QUE PROPORCIONA SEÑALES CADA UNA DE LAS CUALES REPRESENTA LOS VALORES OBSERVADOS DE LAS VARIABLES DE OBSERVACION. EL SIMULADOR, O ESTIMADOR DE ESTADO (14), PROPORCIONA SEÑALES CADA UNA DE LAS CUALES REPRESENTA LOS VALORES ESTIMADOS DE LAS VARIABLES DE ESTADO, Y SE CONSIDERA QUE ESTA CONECTADO AL ELEMENTO DE MEDICION (16) QUE PROPORCIONA LAS SEÑALES REPRESENTATIVAS DE LOS VALORES ESTIMADOS DE LAS VARIABLES DE OBSERVACION. CADA PAR DE SEÑALES CORRESPONDIENTES DE DOS ELEMENTOS DE MEDICION ES SUMINISTRADO A UN COMPARADOR (18), QUE PROPORCIONA EN RESPUESTA UNA SEÑAL DE SALIDA RETROALIMENTADA AL ESTIMADOR DE ESTADO, JUNTO CON CADA SEÑAL DELCONTROLADOR DEL PILOTO AUTOMATICO, PARA ACTUALIZAR EL ESTADO ESTIMADO COMPUTADO POR EL ESTIMADOR DE ESTADO. LA SEÑAL DE SALIDA DEL COMPARADOR (18) ES ASIMISMO ALIMENTADA A UN ELEMENTO DE COMPUTO (24) QUE PROPORCIONA EN RESPUESTA UNA SEÑAL REPRESENTATIVA DE LA FUERZA DE MOVIMIENTO VERTICAL CON ESTIBA INCORRECTA, Y EL MOMENTO DE CABECEO CON ESTIBA INCORRECTA INSTANTANEO, QUE ACTUA SOBRE EL SUBMARINO.
ES89303864T 1988-04-23 1989-04-19 Sistema que incluye un piloto automatico, con un simulador para un vehiculo que se traslada en un fluido. Expired - Lifetime ES2064436T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB8809649A GB2217878B (en) 1988-04-23 1988-04-23 A system including an autopilot, with a simulator, for a fluid borne vehicle

Publications (1)

Publication Number Publication Date
ES2064436T3 true ES2064436T3 (es) 1995-02-01

Family

ID=10635736

Family Applications (1)

Application Number Title Priority Date Filing Date
ES89303864T Expired - Lifetime ES2064436T3 (es) 1988-04-23 1989-04-19 Sistema que incluye un piloto automatico, con un simulador para un vehiculo que se traslada en un fluido.

Country Status (7)

Country Link
US (1) US5053969A (es)
EP (1) EP0339858B1 (es)
CA (1) CA1304820C (es)
DE (1) DE68919262T2 (es)
ES (1) ES2064436T3 (es)
GB (1) GB2217878B (es)
NO (1) NO175395C (es)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
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US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5456604A (en) * 1993-10-20 1995-10-10 Olmsted; Robert A. Method and system for simulating vehicle operation using scale models
DE19537642A1 (de) * 1995-10-10 1997-04-17 Siemens Ag Verfahren und Anordnung zur Schweberegelung von getauchten Fahrzeugen
DE19537643C1 (de) * 1995-10-10 1997-02-20 Siemens Ag Verfahren und Anordnung zur Seegangsadaption bei einem Schiff
US6450112B1 (en) * 1999-04-02 2002-09-17 Nautronix, Inc. Vessel control force allocation optimization
US7174844B2 (en) 2003-07-09 2007-02-13 Innovation Maritim Simulator and method for performing underwater submarine escape training
US20080167768A1 (en) * 2003-10-08 2008-07-10 Marine Motion Control, Llc Control system for a vessel with a gyrostabilization system
WO2008110519A1 (de) * 2007-03-09 2008-09-18 Continental Teves Ag & Co. Ohg Automatische stabilisierungseinheit für wasserfahrzeuge
US8473119B2 (en) * 2008-09-15 2013-06-25 Lockheed Martin Corporation Optimal guidance blender for a hovering/flying vehicle
US8589133B1 (en) * 2009-07-17 2013-11-19 The United States Of America As Represented By The Secretary Of The Navy Dynamic simulation of a system of interdependent systems
RU2536303C1 (ru) * 2013-07-18 2014-12-20 Федеральное государственное автономное образовательное учреждение высшего профессионального образования "Южный федеральный университет" (Южный федеральный университет) Устройство для управления подводным аппаратом
US10606283B2 (en) * 2015-08-13 2020-03-31 The Board Of Regents For Oklahoma State University Modular autopilot design and development featuring bayesian non-parametric adaptive control
DE102016006933B3 (de) * 2016-06-10 2017-11-16 Thyssenkrupp Ag Verfahren zur Kompensation der Blockade eines Ruderblattes in einem X-Ruder
US10683171B2 (en) 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
CA3038898A1 (en) 2016-09-30 2018-04-05 Staples, Inc. Hybrid modular storage fetching system
US10228692B2 (en) * 2017-03-27 2019-03-12 Gulfstream Aerospace Corporation Aircraft flight envelope protection and recovery autopilot
US11084410B1 (en) 2018-08-07 2021-08-10 Staples, Inc. Automated guided vehicle for transporting shelving units
US11590997B1 (en) 2018-08-07 2023-02-28 Staples, Inc. Autonomous shopping cart
US11630447B1 (en) 2018-08-10 2023-04-18 Staples, Inc. Automated guided vehicle for transporting objects
CN109189083B (zh) * 2018-11-09 2021-02-02 西北工业大学 一种具有垂推的低速水下航行器的定深控制方法
US11119487B2 (en) 2018-12-31 2021-09-14 Staples, Inc. Automated preparation of deliveries in delivery vehicles using automated guided vehicles
US11180069B2 (en) 2018-12-31 2021-11-23 Staples, Inc. Automated loading of delivery vehicles using automated guided vehicles
US11124401B1 (en) 2019-03-31 2021-09-21 Staples, Inc. Automated loading of delivery vehicles

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4234142A (en) * 1978-06-08 1980-11-18 The United States Of America As Represented By The Secretary Of The Navy High angle-of-attack missile control system for aerodynamically controlled missiles
DE3071249D1 (en) * 1980-08-19 1986-01-02 Messerschmitt Boelkow Blohm Attitude control device for elastic vehicles
DE3200839C1 (de) * 1982-01-14 1983-08-25 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Vorrichtung zum Trimmen von Flugzeugen
US4525784A (en) * 1982-03-17 1985-06-25 Deutsche Forschungs- Und Versuchsanstalt Fur Luft- Und Raumfahrt E.V. Steering and stabilization system for vehicles
EP0110885B1 (en) * 1982-06-16 1989-09-06 The Boeing Company Autopilot flight director system
US4538230A (en) * 1982-10-29 1985-08-27 Conoco Inc. Method and apparatus for controlling altitude
JPS61148513A (ja) * 1984-12-21 1986-07-07 Nec Corp 潜水船の操縦制御装置
GB8710702D0 (en) * 1987-05-06 1987-10-21 Secr Defence Correction of errors in autopilot ordered states

Also Published As

Publication number Publication date
GB2217878A (en) 1989-11-01
DE68919262D1 (de) 1994-12-15
NO891607L (no) 1989-10-24
EP0339858A3 (en) 1991-01-09
DE68919262T2 (de) 1995-03-23
NO891607D0 (no) 1989-04-19
GB8809649D0 (en) 1988-08-24
EP0339858A2 (en) 1989-11-02
GB2217878B (en) 1992-01-29
NO175395B (no) 1994-06-27
US5053969A (en) 1991-10-01
NO175395C (no) 1994-10-05
EP0339858B1 (en) 1994-11-09
CA1304820C (en) 1992-07-07

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