JP2009234393A - Command steering angle calculation device in x rudder of submarine boat, and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To select the most effective movement direction of a submarine boat by effectively utilizing the maximum steering angle by forming a command steering angle of an X rudder according to the priority ratio of a longitudinal steering direction or a lateral steering direction. <P>SOLUTION: A command steering angle calculation device in the X rudder of the disclosed submarine boat is provided with a priority designation X rudder command steering angle calculation circuit 1 for performing calculation relative to a vertical steering direction command steering angle and a lateral steering direction command steering angle relative to a vertical rudder and a lateral rudder forming a cross rudder according to the priority of the vertical steering direction and the lateral steering direction set by a priority setter 2, and outputting a vertical steering direction command steering angle calculation value and a lateral steering direction command steering angle calculation value. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a command rudder angle calculation device and a command rudder angle calculation method for calculating a command rudder angle in an X rudder of a submersible craft.

  In submersibles, it is necessary to increase the rudder size in order to ensure the effectiveness of the rudder as the hull size increases. In the conventional cross rudder, in order to improve the effectiveness of the rudder, it is necessary to lengthen in the longitudinal rudder direction and the lateral rudder direction. Is adopted.

  Fig. 3 explains how to install and steer the cross rudder and X rudder, both of which show a view of the submersible from the rear, (a) and (b) in the case of the upper rudder direction. , (C), (d) show the case of the rudder direction.

In the case of a cruciform rudder, as shown in Fig. 3 (b) in the upper rudder direction, the vertical rudder is steered in the direction of the arrow using only the horizontal rudder, and in the case of the front rudder direction, Fig. 3 (d) As shown in), steer in the direction of the arrow using the vertical rudder without moving the horizontal rudder.
On the other hand, in the case of the X rudder, as shown in FIG. 3 (a), in the case of the upper rudder direction, steering is performed in the direction of the arrow using all of the X rudder 1 to 4, and in the case of the surface rudder direction, FIG. As shown, the X rudder 1 to 4 are all steered in the direction of the arrow.

  FIG. 4 shows a conventional command distribution method from the longitudinal rudder direction command rudder angle and the lateral rudder direction command rudder angle to the X rudder, where +/− indicates the addition / subtraction of the converted command rudder angle. It shows that Further, the vertical direction steering angle X is positive in the surface steering direction, and the horizontal direction steering angle Y is positive in the upper steering direction.

  In FIG. 4, the X steering angle command steering angle calculation circuit 10 calculates from the vertical steering direction command steering angle X and the horizontal steering direction command steering angle Y, and calculates the vertical steering direction command steering angle calculation value XX and the horizontal steering direction. The command rudder angle YY is generated, and the command rudder angle of the X rudder 1 -XX + YY and the command rudder angle of the X rudder 4 from the difference between the vertical rudder direction command rudder angle calculated value XX and the lateral rudder direction command rudder angle calculated value YY- XX + YY is output, and the command rudder angle of the rudder 2 + XX + YY and the command rudder angle of the rudder 3 + XX + YY are output from the sum of the longitudinal rudder direction command rudder angle calculated value XX and the lateral rudder direction command rudder angle calculated value YY.

  Thus, the distribution from the vertical steering direction command steering angle and the horizontal steering direction command steering angle to the X rudder is distributed by the sum and difference of the vertical steering direction command steering angle and the horizontal steering direction command steering angle. In this case, when changing the course only in the longitudinal rudder direction or changing the course only in the lateral rudder direction, if the size is the same as that of the conventional cross rudder, a vector of √2 times can be obtained. Thus, the size of the rudder can be reduced to 1 / √2.

As shown in FIG. 4 and FIG. 6, if the command rudder angle of the X rudder is calculated from the vertical rudder direction command rudder angle and the lateral rudder direction command rudder angle, it will be larger than the maximum rudder angle limit value A, so some method Therefore, the sum and difference of the commanded steering angles in each direction must be within A.
In submersibles, the longitudinal rudder direction controls the course and the lateral rudder direction controls the attitude angle.In general, the vertical rudder direction is given priority in the surface condition, and the horizontal rudder direction has priority in the underwater state. As shown in FIG. 6, the difference between the maximum rudder angle limit value A and the prioritized command rudder angle is given priority in the vertical rudder direction command rudder angle XX in the surface condition, and in the underwater state prioritizing the lateral rudder direction command rudder angle YY. Are distributed to the remaining command rudder angles.

  FIG. 5 illustrates the above-described calculation function in a conventional X rudder command rudder angle calculation circuit. In the figure, sign () indicates a reference numeral.

  However, in the case of the X rudder, when only the longitudinal rudder direction command rudder angle or only the lateral rudder direction command rudder angle, the same rudder effect as the conventional cross rudder can be obtained. If there are both rudder direction command rudder angles, as can be seen from the steering amount of the X rudder shown in FIG. 6, if one maximum rudder angle of the X rudder is the same as the maximum rudder angle of the cross rudder, Depending on the values of X and Y, a state exceeding the maximum rudder angle limit value A occurs, and thus a device for preventing such a state from being required is necessary.

Hereinafter, the above points will be described in more detail with reference to FIG.
FIG. 6 shows the longitudinal steering direction command steering angle and the lateral steering direction command steering angle in the X steering command steering angle calculation circuit, where A is the maximum steering angle, P is the pre-calculation command steering angle, and Q is the calculation. The rear command rudder angle (currently in the water state), and R is the post command rudder angle (current state is the underwater state).
In FIG. 6, the outer square indicates a steerable amount setting range that can be realized with a cross rudder, and the inner rhombus indicates a steerable amount settable range that can be achieved with an X rudder.

  As shown in FIG. 6, when the steering direction P is requested, the submarine controls the steering so as to select a vector R that gives priority to the horizontal rudder and puts the rest in the vertical rudder direction when underwater. In the case of water navigation, the steering is controlled so that the vector Q is selected by giving priority to the longitudinal rudder direction and assigning the rest to the lateral rudder direction.

  On the other hand, in Patent Document 1, each of the vertical rudder upper rudder, vertical rudder lower rudder, horizontal rudder right rudder, and horizontal rudder left rudder is driven independently, and the target value of the roll angle is set by the roll angle setting device. Then, according to the signal from the roll angle sensor, the roll angle control signal is generated by the roll angle control controller, and the longitudinal steering signal synthesis unit outputs the longitudinal steering signal, and the lateral steering signal synthesis unit An underwater vehicle steering control system that outputs a steering signal for a horizontal rudder is disclosed.

In Patent Document 2, the rudder angle of each rudder of the X-type compound rudder submersible and the speed of the X-type compound rudder submarine are input to the rudder angle conversion unit. The rudder angle conversion unit calculates the force acting on the X-type compound rudder submarine based on each inputted rudder angle and speed and the dynamic characteristic of the X-type compound rudder read from the X-type compound rudder characteristic memory, The calculated force acting on the X-type compound rudder vessel is vector-decomposed into each rudder component of the + type compound rudder of the + type compound rudder submersible, and + type compound rudder read from each rudder component and + type compound rudder characteristic memory Based on the dynamic characteristics of the above, it is converted into the rudder angle of the horizontal rudder and vertical rudder of the + type compound rudder submersible. A rudder angle display method and apparatus for displaying a display mark indicating a rudder angle of a converted horizontal rudder and vertical rudder on a display screen of a rudder angle display unit, and a recording medium on which a rudder angle conversion display program is recorded are disclosed.
Japanese Patent Laid-Open No. 11-139392 JP 2000-229600 A

  In the case of the prior art, it is possible to quickly reach the position you want to move as a submersible in the priority direction (the course in the case of water, the depth in the case of underwater), but it is easy to reach in the other directions. There is a problem that it will not.

In addition, because the structure of the submersible is asymmetrical in the vertical direction, the attitude angle changes when turning in the water, and the depth changes accordingly, but in the operation of the submersible, Since inconvenience such as seabed contact occurs, there is a case where it is necessary to suppress the change in depth, which causes a problem that the turning motion becomes slow.
Furthermore, there is a problem that it is impossible to maintain the course direction due to the influence of the tidal current or the like when changing the depth.

  However, the techniques described in Patent Documents 1 and 2 cannot solve such a problem.

  The present invention has been made in view of the above-described circumstances. In the conventional X rudder, the horizontal rudder direction priority is fixed underwater and the vertical rudder direction priority is fixed underwater. Alternatively, it has a priority ratio setter for setting the lateral steering direction priority ratio Gy, and by specifying the priority ratio, the steering angle command of the X rudder is given priority in the longitudinal steering direction or the lateral steering direction, thereby steering It is an object of the present invention to provide a command rudder angle calculation apparatus and method for an X rudder of a submersible that can solve such problems by realizing selection of the moving direction of the submarine based on hand judgment.

  In order to solve the above-mentioned problems, a first configuration of the present invention relates to a command rudder angle calculation device in an X rudder of a submersible craft, and a longitudinal rudder direction command rudder angle and a lateral rudder direction for a longitudinal rudder and a lateral rudder that form a cross rudder Priority ratio designation X rudder that calculates the steering direction command steering angle calculation value and the lateral steering direction command steering angle calculation value by calculating according to the priority ratio of the vertical steering direction and the horizontal steering direction with respect to the command steering angle A command rudder angle calculation means, and the first rudder direction command rudder angle calculation value and the lateral rudder direction command rudder angle calculation value, the upper first X rudder, the second X rudder, and the lower third rudder It is configured to set a command rudder angle for the X rudder and the fourth X rudder.

  Further, the second configuration of the present invention relates to a command rudder angle calculation method in the X rudder of a submersible craft, with respect to the longitudinal rudder direction command rudder angle and the lateral rudder direction command rudder angle for the longitudinal rudder and the lateral rudder forming the cross rudder. Priority ratio designation X rudder command rudder angle calculation means for calculating according to the priority ratio of the longitudinal rudder direction and the lateral rudder direction and outputting the longitudinal rudder direction command rudder angle calculated value and the lateral rudder direction command rudder angle calculated value By using the longitudinal rudder direction command rudder angle calculated value and the lateral rudder direction command rudder angle calculated value, the upper first X rudder, second X rudder, lower third X rudder and It is characterized by setting a command rudder angle with respect to four X rudders.

According to the command rudder angle calculation device and method for the X rudder of the submersible craft of the present invention, the longitudinal rudder direction or the lateral rudder direction while using the longitudinal rudder direction command rudder angle and the lateral rudder direction command rudder angle as they are in the cross rudder By giving priority to, the maximum rudder angle of the X rudder can be used effectively, and the moving direction of the submersible can be selected based on the judgment of the steering operator.
In particular, it is possible to suppress a change in depth based on a change in posture angle when turning underwater due to the asymmetry of the submersible structure. In addition, it is possible to maintain the course direction against the influence of tidal currents and the like when changing the depth.
Further, by realizing the priority setting by setting the operation angle with a lever, a knob or the like, the priority can be set sensuously according to the course and depth of the submersible craft.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

Embodiment

  FIG. 1 shows a command rudder angle distribution system from a vertical rudder direction command rudder angle and a lateral rudder direction command rudder angle to an X rudder in the command rudder angle calculation apparatus and method for the X rudder of the submersible craft of the present invention. A schematic configuration comprising a priority ratio designation X rudder command steering angle calculation circuit 1 and a priority ratio setting device 2 is shown.

  As shown in FIG. 1, the vertical steering direction priority ratio Gx or the horizontal steering direction priority ratio Gy is set by the priority ratio setting device 2, and the vertical steering direction command steering angle X and the horizontal steering direction command steering angle Y are set as the priority ratio designation X. The steering command calculation angle calculation circuit 1 inputs the calculation to realize the function of the priority ratio designation X steering command steering angle calculation circuit shown in FIG. 2, and the vertical command steering angle calculation value XXg and the horizontal command The steering angle calculation value YYg is output, and the command steering angles of the X rudder 1 to 4 are calculated.

  As shown in FIG. 1, a priority ratio setting device 2 for specifying the longitudinal steering direction priority ratio Gx or the lateral steering direction priority ratio Gy is provided for the priority ratio designation X rudder command steering angle calculation circuit 1 and is variable. Using a resistor and an encoder, the operation angle by the lever and knob is converted into voltage and digital data, and transmitted to the priority ratio designation X rudder command rudder angle calculation circuit 1. Further, the selection of the longitudinal steering direction priority ratio Gx and the lateral steering direction priority ratio Gy is provided with a switch in the priority ratio setting device 2 so that a signal to be transmitted to the priority ratio designation X steering command steering angle calculation circuit 1 can be selected. .

  The operation of the command rudder angle calculation apparatus and method for the X rudder of the submersible craft of the present invention will be described below with reference to FIGS.

  As shown in FIG. 2, the calculation of the command rudder angle in the X rudder is performed on the longitudinal rudder direction command rudder angle X and the lateral rudder direction command rudder angle Y in the priority ratio designation X rudder command rudder angle calculation circuit 1 shown in FIG. On the other hand, when the maximum rudder angle of each of the X rudder 1 to 4 is A and the longitudinal rudder direction priority rate Gx or the lateral rudder direction priority rate Gy is designated by the priority ratio distributor 2, the longitudinal rudder direction command rudder angle calculated value is XXg. When the lateral command rudder angle calculation value is YYg, the following is performed.

(When Gx is specified)
When | X | + | Y | ≦ A XXg = X YYg = Y
When | X | + | Y |> A and A− | Y | ≧ | X | * Gx
XXg = sign (X) * (A- | Y |) YYg = Y
When | X | + | Y |> A and A- | Y | <| X | * Gx XXg = X * GxYYg = sign (Y) * (A- | XXg |)

(When Gy is specified)
When | X | + | Y | ≦ A XXg = X YYg = Y
When | X | + | T |> A and A− | X | ≧ | Y | * Gy
YYg = sign (Y) * (A- | X |) YYg = Y
When | X | + | Y |> A and A- | X | <| Y | * Gy XXg = sign (X) * (A- | YYg |) YYg = Y * Gy

  As a result, the direction in which the priority rate is designated can occupy a steering angle equal to or greater than the command steering angle * priority rate with respect to the maximum steering angle.

  In FIG. 6, V indicates the commanded steering angle after calculation. In the present embodiment, calculation is performed when the range of R⇔Q is movable using the longitudinal steering direction priority ratio Gx or the lateral steering direction priority ratio Gy. It is shown that a rear command steering angle V can be obtained.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and even if there is a design change or the like without departing from the gist of the present invention, include. For example, the configuration of the priority rate setting unit 2 may be anything as long as a required priority rate can be set. Moreover, the selection of the priority ratio in the longitudinal rudder direction and the lateral rudder direction is not limited to a switch, and may be another switching means.

  The present invention can be used for calculating the command rudder angle in any type of submersible craft, whether for civilian use or military use.

It is a figure which shows the command rudder angle distribution system from the vertical rudder direction and horizontal rudder direction command rudder angle to X rudder of this invention. It is a figure for demonstrating the function of the priority ratio designation | designated X rudder command rudder angle calculation circuit of this invention. It is a figure for demonstrating the attachment method and steering method of a cross rudder and X rudder. It is a figure which shows the command rudder angle distribution system to the X rudder from the conventional vertical rudder direction command rudder angle and horizontal rudder direction command rudder angle. It is a figure for demonstrating the function of the conventional X rudder command rudder angle calculation circuit. It is a figure which shows the longitudinal steering direction command steering angle and the horizontal steering direction command steering angle in the X steering command steering angle calculation circuit of the conventional and this invention.

Explanation of symbols

1 Priority rate designation X rudder command rudder angle calculation circuit (priority rate designation X rudder command rudder angle calculation means)
2 priority ratio setting device

Claims (10)

  For the longitudinal and lateral rudder forming the cross rudder, the longitudinal rudder direction command rudder angle and the lateral rudder direction command rudder angle are calculated according to the priority ratio of the longitudinal rudder direction and the lateral rudder direction, and the longitudinal rudder direction command A priority ratio designating X rudder command rudder angle calculating means for outputting a rudder angle calculated value and a lateral rudder direction command rudder angle calculated value, comprising the longitudinal rudder direction command rudder angle calculated value and the lateral rudder direction command rudder angle calculated value, Diving characterized in that it is configured to set command rudder angles for the upper first X rudder, second X rudder, and lower third X rudder and fourth X rudder. Command rudder angle calculation device for boat X rudder.   Calculated according to the priority ratio of the vertical steering direction and the horizontal steering direction set by the priority ratio setting device for the vertical steering direction command steering angle and the horizontal steering direction command steering angle for the vertical and horizontal steerings forming the cross rudder And a priority ratio specifying X rudder command rudder angle calculating means for outputting a longitudinal rudder direction command rudder angle calculated value and a lateral rudder direction command rudder angle calculated value. A command rudder angle is set for the upper first X rudder and second X rudder, and the lower third X rudder and fourth X rudder, according to the calculated command rudder angle. A command rudder angle calculation device for an X rudder of a submersible craft.   The upper X rudder is composed of a first X rudder and a second X rudder configured to change the angle in the same direction or in the opposite direction, and the lower X rudder is in the same direction or in the opposite direction. The command rudder angle calculation device for the X rudder of a submersible craft according to claim 1 or 2, comprising a third X rudder and a fourth X rudder configured to be changeable.   The command rudder angle of the first X rudder and the command rudder angle of the fourth X rudder are set by subtracting the longitudinal rudder direction command rudder angle calculated value and adding the lateral rudder direction command rudder angle calculated value The command rudder angle calculation apparatus in the X rudder of the submersible craft according to claim 1 or 2.   The command rudder angle of the second X rudder and the command rudder angle of the third X rudder are set by adding the longitudinal rudder direction command rudder angle calculated value and adding the lateral rudder direction command rudder angle calculated value. The command rudder angle calculation apparatus in the X rudder of the submersible craft according to claim 1 or 2.   For the longitudinal and lateral rudder forming the cross rudder, the longitudinal rudder direction command rudder angle and the lateral rudder direction command rudder angle are calculated according to the priority ratio of the longitudinal rudder direction and the lateral rudder direction, and the longitudinal rudder direction command By means of priority ratio designating X rudder command rudder angle calculating means for outputting the rudder angle calculated value and the lateral rudder direction command rudder angle calculated value, the longitudinal rudder direction command rudder angle calculated value and the lateral rudder direction command rudder angle calculated value are used. In the X rudder of a submersible characterized by setting command rudder angles for the upper first X rudder and second X rudder and lower third X rudder and fourth X rudder Instruction rudder angle calculation method.   Calculated according to the priority ratio of the vertical steering direction and the horizontal steering direction set by the priority ratio setting device for the vertical steering direction command steering angle and the horizontal steering direction command steering angle for the vertical and horizontal steerings forming the cross rudder The vertical steering direction command steering angle calculation value and the horizontal steering direction command are output by the priority ratio designation X steering command steering angle calculation means that outputs the vertical steering direction command steering angle calculation value and the horizontal steering direction command steering angle calculation value. A command rudder angle is set for the upper first X rudder and the second X rudder, and the lower third X rudder and fourth X rudder using the calculated rudder angle. The command rudder angle calculation method in X rudder of submersible.   The upper X rudder is composed of a first X rudder and a second X rudder configured to change the angle in the same direction or in the opposite direction, and the lower X rudder is in the same direction or in the opposite direction. The command rudder angle calculation method in the X rudder of the submersible craft according to claim 6 or 7, comprising a third X rudder and a fourth X rudder configured to be changeable.   The command rudder angle of the first X rudder and the command rudder angle of the fourth X rudder are set by subtracting the longitudinal rudder direction command rudder angle calculated value and adding the lateral rudder direction command rudder angle calculated value The command rudder angle calculation method in the X rudder of the submersible craft according to claim 6 or 7, characterized in that:   The command rudder angle of the second X rudder and the command rudder angle of the third X rudder are set by adding the longitudinal rudder direction command rudder angle calculated value and adding the lateral rudder direction command rudder angle calculated value. The command rudder angle calculation method in the X rudder of the submersible craft according to claim 6 or 7, characterized in that:

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