JP2013180682A - Cruise vehicle, steering device, steering control method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cruise vehicle which suppresses an influence of noise and enables stable cruising even at the action of disturbance, a steering device, a steering control method and a program.SOLUTION: A cruise vehicle 1 has: sensors 2, 3 for outputting the present speed and a position, or an attitude; a drive part 5 for imparting a change to the position or the attitude according to control signals; and control parts 4, 6 for generating the control signals on the basis of detection values inputted from the sensors 2, 3 and setting values indicating the position or the attitude being a target, and outputting the signals to the drive part 5. The control parts 4, 6 utilize, for the generation of the control signals, moving average values being average values of detection values of the number of the newest prescribed samples out of the detection values inputted from the sensors 2, 3 at prescribed sample time intervals, and change the number of the samples so that the number of the samples may be reduced when the detection values related to the speed are increased, and the number of the samples may be increased when the detection values related to the speed are reduced.

Description

  The present invention relates to a traveling body, a steering device, a steering control method, and a program, and more particularly, to a technique for controlling a rudder to change a course, a posture angle, and a depth of a traveling body in water and in water.

  2. Description of the Related Art Conventionally, there is known a navigation apparatus that detects a speed of a traveling body and automatically controls a driving apparatus based on the detection results.

  For example, Patent Document 1 discloses a ship automatic control apparatus as shown in FIG. The PID control means 109 of the marine vessel automatic control apparatus 100 generates a rudder command β0 according to a deviation e between the set course φ0 set by the setter 101 and the actual course φ detected by the actual course detector 102. The PID control means 109 further reflects the control gain output from the gain calculation means 105 in the rudder command β. The gain calculation means 105 is an external force applied to the ship that is output by the rudder generating force characteristic corresponding to the speed stored in the rudder characteristic memory 106, the speed signal E from the speed detector 103, the deviation signal e, and the external force estimation means 107 The control gain is calculated based on the estimated value. The external force estimation means 107 includes a speed signal u detected by the speed detector 103 based on the motion characteristics of the ship stored in the motion characteristics memory 108, a azimuth angle signal ψ of the ship detected by the attitude detector 104, and a pitch angle. The signal θ, the roll angle signal φ, and the actual steering angle signal β from the actuator 110 are used as observation values, and the ship's external force is estimated and calculated using a Kalman filter.

  Patent Document 2 discloses an electric traveling vehicle that samples an accelerator operation amount at a predetermined sampling time, averages a predetermined number of past sample values from the present time, and drives a traveling motor based on the average value. ing. This electric traveling vehicle has a configuration that relaxes the responsiveness of the traveling motor by changing the sampling time to be longer when the sample value becomes smaller or by increasing the number of samples.

JP 04-135999 A JP 05-168108 A

  In general, a signal output from a detector may include noise, and the noise may cause an error in subsequent calculations using the signal. Also in the ship automatic pilot device 400 described in Patent Document 1, the output values of the actual course detector 402, the speed detector 403, and the attitude detector 404 may include noise and the like. An error may also occur in the value of the rudder command β0 calculated by the control means 409.

  As one of methods for suppressing the influence of noise, signal smoothing is known. For example, the controller selects a signal of a certain number of samples in order from the most recently input signal among the signals input at constant sample time intervals from the detector, and the average value of these signals, That is, a moving average value is obtained, and this moving average value is used for subsequent calculations.

  However, in this method, the greater the number of samples, the greater the influence of delay due to control, the output waveform from the controller diverges, and the actuator becomes unstable. This is especially a problem when the speed is high. If the number of samples is reduced, the problem is solved, but the noise cannot be removed, and the noise adversely affects the operation of the actuator. This becomes a new problem at low speeds where delay is not an issue.

  The electric vehicle described in Patent Document 2 is an example in which smoothing of such a signal is applied to an accelerator operation, and the responsiveness of the electric motor with respect to the accelerator operation amount can be controlled according to the speed. However, the configuration described in Patent Document 2 merely smoothes the output of the setting device (corresponding to the accelerator in Patent Document 2), and the actuator is based not only on the setting device but also on the output from various detectors. There was a problem that it could not be applied immediately to a vehicle that had to be controlled.

  The present invention has been made to solve such problems, and suppresses the influence of noise, and also enables a traveling body, a control device, and a control system that can stably travel even during disturbances. It is an object to provide a control method and a program.

  The traveling body according to the present invention is a traveling body that travels on or under water, and the traveling body detects a current speed, position, or attitude, and outputs a detection value and a control unit. In response to the signal, the control unit generates the control signal based on the drive unit that changes the position or orientation, the detection value input from the sensor unit, and the set value that indicates the target position or orientation, and the drive A control unit that outputs the control signal to a unit, wherein the control unit is the detection value of the latest predetermined number of samples among the detection values input at predetermined sample time intervals from the sensor unit. Is used for generating the control signal, and the number of samples is decreased when the detected value for speed increases, and the number of samples is increased when the detected value for speed decreases. Let As, thereby changing the number of the number of samples.

  The traveling body according to the present invention is a traveling body that travels on or under water, and the traveling body detects a current speed, position, or attitude, and outputs a detection value and a control unit. In response to the signal, the control unit generates the control signal based on the drive unit that changes the position or orientation, the detection value input from the sensor unit, and the set value that indicates the target position or orientation, and the drive A control unit that outputs the control signal to a unit, and the control unit includes the detection value of the latest predetermined number of samples among the detection values input from the sensor unit at predetermined sample time intervals. The moving average value, which is an average value, is used to generate the control signal, and when the detection value related to speed increases, the sensor unit is controlled to shorten the sample time interval, and the detection value related to speed is When it gets lower And it controls the sensor unit so as to increase the serial sample time interval.

  The control device according to the present invention includes an input unit that inputs a detection value from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water, and the detection that is input from the sensor unit. A control unit that generates a control signal based on the value and a set value indicating a target position or posture, and outputs the control signal to a drive unit that changes the position or posture of the vehicle. The control unit includes a moving average value that is an average value of the detection values of the latest predetermined number of samples among the detection values input from the sensor unit at predetermined sample time intervals. The number of samples is used for generation and decreases the number of samples when the detection value for the speed increases, and increases the number of samples when the detection value for the speed decreases. It is intended to change.

  The control device according to the present invention includes an input unit that inputs a detection value from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water, and the detection that is input from the sensor unit. A control unit that generates a control signal based on the value and a set value indicating a target position or posture, and outputs the control signal to a drive unit that changes the position or posture of the vehicle. The control unit includes a moving average value that is an average value of the detection values of the latest predetermined number of samples among the detection values input from the sensor unit at predetermined sample time intervals. In addition to being used for generation, the sensor unit is controlled to shorten the sample time interval when the detection value related to speed increases, and the sample time interval is lengthened when the detection value related to speed decreases. And it controls the power sale the sensor unit.

  The steering control method according to the present invention includes a detection value input from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water, and a set value that indicates a target position or posture. The control signal is generated on the basis of the control unit, and the control signal is output to the drive unit that changes the position or posture of the vehicle, and the sensor unit outputs the control signal at predetermined sample time intervals. Among the input detection values, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal, and when the detection value related to the speed becomes high, The number of samples is decreased, and the number of samples is changed so as to increase the number of samples when the detection value for the speed decreases.

  The steering control method according to the present invention includes a detection value input from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water, and a set value that indicates a target position or posture. The control signal is generated on the basis of the control unit, and the control signal is output to the drive unit that changes the position or posture of the vehicle, and the sensor unit outputs the control signal at predetermined sample time intervals. Among the input detection values, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal, and when the detection value related to speed increases, the sample The sensor unit is controlled to shorten the time interval, and the sensor unit is controlled to increase the sample time interval when the detection value relating to the speed becomes low.

  A program according to the present invention is a program for causing a computer to execute the above-described steering control method.

  According to the present invention, it is possible to provide a traveling body, a steering device, a steering control method, and a program capable of suppressing the influence of noise and capable of stable navigation even during a disturbance action.

It is a figure which shows the structure of the underwater vehicle concerning Embodiment 1. FIG. It is a figure which shows the process of the underwater vehicle concerning Embodiment 1. FIG. It is a figure which shows the process of the underwater vehicle concerning Embodiment 1. FIG. It is a figure which shows the structure of the underwater vehicle concerning Embodiment 2. FIG. It is a figure which shows the process of the underwater vehicle concerning Embodiment 2. FIG. It is a figure which shows the structure of the conventional underwater vehicle.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.

<Embodiment 1>
In the present embodiment, the present invention is applied to the vertical motion control of an underwater vehicle.

  In FIG. 1, the structure of the underwater vehicle 1 in this Embodiment 1 is shown.

  The underwater vehicle 1 as a navigation body includes a position detector 2 and a speed detector 3 as sensor units, a rudder actuator 5 as a drive unit, a setting device 4 as a control unit, and a control device 6. .

  The position detector 2 is a sensor that detects a position accompanying the movement of the underwater vehicle 1. In the present embodiment, the position detector 2 is a depth meter that measures the depth, which is the distance between the water surface and the underwater vehicle 1, and outputs the depth at predetermined sample time intervals.

  The speed detector 3 is a sensor that measures the speed in the traveling direction of the underwater vehicle 1. The speed detector 3 outputs the measured speed at sample time intervals.

  The setting device 4 is an input means for setting a depth target value which is a vertical position of the underwater vehicle.

  The rudder actuator 5 is an actuator for driving a rudder that changes the vertical position of the underwater vehicle 1. The rudder actuator 5 operates in accordance with a rudder command value output from a steering device 6 described later.

  The control device 6 should output to the rudder actuator 5 based on the error signal indicating the difference between the depth of the underwater vehicle 1 detected from the position detector 2 and the target depth setting value by the setting device 4. Calculates the command value and outputs it. As a result, the rudder actuator 5 operates, the depth of the underwater vehicle 1 is changed, and the depth is detected again by the position detector 2. Thus, the control device 6 constitutes a control system based on feedback.

  The control device 6 is typically a control means having a function of executing various controls based on various programs stored in a storage means (not shown), and includes a central processing unit (CPU), a read only memory (ROM), It is realized by a random access memory (RAM), an input / output port (I / O) or the like.

  The control device 6 includes a moving average processing unit 7, a moving average processing unit 8, a control coefficient calculation unit 9, and a PID control unit 10.

  The moving average processing unit 7 and the moving average processing unit 8 select a signal having the latest predetermined number of samples from signals (detection values) input from the position detector 2 and the velocity detector 3 at predetermined sample time intervals, respectively. Then, it is an arithmetic processing means for smoothing the signal by outputting a moving average value which is an average value of these selected signals.

  Based on the speed input from the moving average processing unit 8, the control coefficient calculation unit 9 uses the sample number Na to be used when obtaining the moving average value in the moving average processing unit 7 and the control gain coefficient in the PID controller 10. A certain proportional gain coefficient Kp, integral gain coefficient Ki, and differential gain coefficient Kd are calculated.

  The PID control unit 10 uses an error signal e, which is a difference between the depth input from the moving average processing unit 7 and the target depth (set value) input from the setter 4 as an input signal. The PID control unit 10 obtains ei obtained by time integration with respect to e and ed obtained by time differentiation with respect to e from the input signal e. The PID control unit 10 multiplies the signal e by the proportional gain Kp, the signal ei by the integral gain coefficient Ki, and the signal ed by the differential gain coefficient Kd, and outputs the sum of these to the rudder actuator 5.

  Next, the flow of signals in the underwater vehicle 1 will be described with reference to FIG.

  The speed detector 3 detects the traveling direction speed of the underwater vehicle 1 and outputs the detected value to the control device 6 at sample time intervals. The detection values of the speed detector 3 are w1, w2, w3,.

  The moving average processing unit 8 of the control device 6 selects detection values for the number of samples j in order from the newest detection values input from the speed detector 3, and the average value of these selected detection values, that is, Calculate the moving average value. This moving average value is defined as speed V. V is obtained by the following equation (1).

  Based on the smoothed velocity V input from the moving average processing unit 8, the control coefficient calculation unit 9 controls the number of samples used by the moving average processing unit 7 for calculation and the control used by the PID control unit 10 for calculation. A gain coefficient is calculated.

  FIG. 2 shows a function f (V) representing the relationship between the traveling speed V and the number of samples used when the moving average processing unit 7 calculates the moving average value.

  Here, the traveling speed V when the underwater vehicle 1 travels at a high speed is u, and the traveling speed V when the underwater vehicle 1 travels at a speed lower than u is v. Also, m is the number of samples when the speed is u, and n is the number of samples when the speed is v.

  The function f (V) is a monotonically decreasing function, and the number of samples is small when traveling at high speed, and the number of samples is large when traveling at low speed. If the number of samples decreases, the moving average processing unit 7 and the moving average processing unit 8 can output the moving average value at a higher speed, so that the delay in the control becomes smaller. On the other hand, if the sample value increases, even if noise is mixed in the detection value, the influence of the noise on the calculation of the moving average value can be suppressed. As described above, the nature of the output value of the PID control unit 10 varies depending on the number of samples. In the present embodiment, the PID control unit can be changed by changing the number of samples according to the speed. 10 can control the rudder actuator 5 appropriately according to the speed.

FIG. 3 shows functions Fp (V), Fd (V), and Fi (V) representing the relationship between the traveling speed V and the gain coefficients Kp, Kd, and Ki related to PID control in the PID control unit 10.
The gain coefficient Kp is a proportional gain coefficient that is a direct coefficient with respect to the input signal to the PID control unit 10. The gain coefficient Kd is a coefficient with respect to time differentiation of the input signal, that is, a differential gain coefficient. The gain coefficient Ki is a coefficient for time integration of the input signal, that is, an integral gain coefficient.

The functions Fp (V), Fd (V), and Fi (V) in the present embodiment are all monotonically decreasing functions as shown in FIG. According to these functions, the proportional gain coefficient Kpv, the integral gain coefficient Kiu, and the differential gain coefficient Kdu are obtained as control gain coefficients when the underwater vehicle 1 is traveling at a high speed u. Further, as a control gain coefficient during traveling at a lower speed v, a proportional gain coefficient Kpv, an integral gain coefficient Kiv, and a differential gain coefficient Kdv are obtained.

  On the other hand, in the position detector 2 of the underwater vehicle 1, the depth detection value d is output to the control device 6 at predetermined sample time intervals. The detection values of the position detector 2 are d1, d2, d3,.

  The moving average processing unit 7 of the control device 6 selects detection values of the number of samples determined by the function f (V) in order from the newest detection values input from the position detector 2, and selects these. An average value of the detected values, that is, a moving average value is calculated. This moving average value is defined as a depth D.

  For example, when traveling at a high speed u, the number of samples is m by the function f (V), and thus the moving average value Du of the depth is obtained by the following formula 2.

  Further, when traveling at a lower speed v, the number of samples is n by the function f (V), and thus the moving average value Du of the depth is obtained by the following formula 3.

  The control coefficient calculation unit 9 is based on the traveling speed V input from the moving average processing unit 8 and the number of samples used by the moving average processing unit 7 for calculation, and the control gain coefficient used by the PID control unit 10 for calculation. Is calculated.

  Based on the smoothed depth D input from the moving average processing unit 7 and the error signal e that is a difference from the set value D0 that is the target depth set by the setting unit 4, the PID control unit 10 Find integrated ei and time differentiated ed. Further, for each of e, ei, and ed, the PID control unit 10 calculates the proportional gain coefficient Kp, the integral gain coefficient Ki, and the differential gain coefficient calculated according to the traveling speed V of the underwater vehicle 1 by the control coefficient calculation unit 9. Multiply Kd and output the sum to the rudder actuator 5. In response to this, the rudder actuator 5 controls the vertical movement of the underwater vehicle 1.

  Here, as these control gain coefficients, as shown in FIG. 3, when the traveling speed of the underwater vehicle 1 is high, the proportional gain coefficient Kpv, the integral gain coefficient Kiu, and the differential gain coefficient Kdu are applied. At low speed v, proportional gain coefficient Kpv, integral gain coefficient Kiv, and differential gain coefficient Kdv are applied.

  In the present embodiment, the control coefficient calculation unit 9 calculates the optimum number of samples and control gain coefficient according to the speed V input from the moving average processing unit 8, and the PID control unit 10 The vertical movement of the underwater vehicle 1 is controlled based on the number and the control gain coefficient. Therefore, the underwater vehicle 1 can appropriately suppress the influence of delay and noise in the control.

<Embodiment 2>
The configuration of the underwater vehicle 1 according to the second embodiment of the present invention will be described with reference to FIG.

  The components and their functions of the underwater vehicle 1 according to the present embodiment are the same as those according to the first embodiment. That is, the underwater vehicle 1 includes a position detector 2 and a speed detector 3 as sensor units, a rudder actuator 5 as a drive unit, a setting unit 4 as a control unit, and a control device 6.

  Next, the flow of signals in the underwater vehicle 1 according to the present embodiment will be described with reference to FIG.

  The speed detector 3 detects the traveling direction speed of the underwater vehicle 1 and outputs the detected value to the control device 6 at sample time intervals. The detection values of the speed detector 3 are w1, w2, w3,.

  The moving average processing unit 8 of the control device 6 selects detection values for the number of samples j in order from the newest detection values input from the speed detector 3, and the average value of these selected detection values, that is, Calculate the moving average value. This moving average value is defined as speed V. V is obtained by the above equation (1).

  Based on the smoothed velocity V input from the moving average processing unit 8, the control coefficient calculation unit 9 outputs the sampling time interval τ of the depth signal output from the position detector 2 and input to the moving average processing unit 7. The PID control unit 10 calculates a control gain coefficient used for calculation.

  FIG. 5 shows a function g (V) representing the relationship between the traveling speed V and the sample time interval τ.

  When v is obtained as the traveling speed V of the underwater vehicle 1, the control coefficient calculator 9 calculates the sample time interval t based on the function g (V).

  The function g (V) is a monotonically decreasing function, and the sample time interval is short when traveling at high speed, and the sample time interval is long when traveling at low speed. If the sample time interval is shortened, the moving average processing unit 7 and the moving average processing unit 8 can output the moving average value of a predetermined number of sample values at a higher speed, so that the delay in the control becomes smaller. On the other hand, if the sample time interval is long, the influence of noise on the detected value can be suppressed. Thus, although the nature of the output value of the PID control unit 10 varies depending on the length of the sample time interval, in the present embodiment, by changing the sample time interval according to the speed, PID The control unit 10 can appropriately control the rudder actuator 5 according to the speed.

  At the same time, the control coefficient calculation unit 9 obtains gain coefficients Kp, Kd, and Ki related to PID control in the PID control unit 10. The method for calculating these control gain coefficients is the same as in the first embodiment. That is, the proportional gain coefficient Kpv, the integral gain coefficient Kiv, and the differential gain coefficient Kdv are calculated according to the traveling speed v.

  On the other hand, in the position detector 2 of the underwater vehicle 1, the depth detection value d is output to the control device 6. Here, the depth d is output at sample time intervals t1, t2, t3,... Ti calculated according to the velocity v. Further, the depth d is output as d1, d2, d3,.

  Of the depth signals d1, d2, d3,... Di input from the position detector 2 at each sampling time interval t1, t2, t3,. In order from the newest one, the detection value of the sample number n is selected, and the average value of these selected detection values, that is, the moving average value is calculated. This moving average value is defined as a depth D. The depth D is obtained by the following equation (4).

  In the present embodiment, even if the sampling time intervals are different, all detected values are treated as the same weight and the simple moving average is calculated, but the weighted moving average or exponential moving average is calculated. It is also possible.

  For example, the detection values are weighted according to the sample time interval τ, and the average is obtained by multiplying a detection value with a large τ by a large coefficient and multiplying a detection value with a small τ by a small coefficient. It is possible. Also, newer detection values can be given greater weight, and past data can be handled lightly.

  Based on the smoothed depth D input from the moving average processing unit 7 and the error signal e that is a difference from the set value D0 that is the target depth set by the setting unit 4, the PID control unit 10 Find integrated ei and time differentiated ed. Further, for each of e, ei, and ed, the PID control unit 10 calculates the proportional gain coefficient Kp, the integral gain coefficient Ki, and the differential gain coefficient calculated according to the traveling speed V of the underwater vehicle 1 by the control coefficient calculation unit 9. Multiply Kd and output the sum to the rudder actuator 5. In response to this, the rudder actuator 5 controls the vertical movement of the underwater vehicle 1.

  In the present embodiment, the control coefficient calculation unit 9 calculates an optimal sample time interval and control gain coefficient according to the velocity V input from the moving average processing unit 8, and the position detector 2 and the moving average processing are calculated. The unit 7 calculates the depth D based on the sampling time interval, and the PID control unit 10 controls the vertical motion of the underwater vehicle 1 based on the depth D and the control gain coefficient. Therefore, the underwater vehicle 1 can appropriately suppress the influence of delay and noise in the control.

<Other embodiments>
It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

  For example, in the first embodiment or the second embodiment, the moving average processing unit 8 performs a moving average value calculation process using a certain number of samples. However, similarly to the moving average processing unit 7, it is also possible to obtain the optimum number of samples according to the speed and calculate the moving average value based on the number of samples.

  Further, in the above-described embodiment, the moving average processing unit 8 calculates the moving average value of the speed based on the speed (w1, w2, w3,..., Wj) detected by the speed detector 3, and performs control. The coefficient calculator 9 calculates the optimum number of samples and control gain coefficient according to the moving average value of the speed. However, the moving average processing unit 7 or 8 calculates the moving average value of the position based on the position detected by the position detector 8, for example, the depth (d1, d2, d3,. The calculation unit 9 may calculate the optimum number of samples and the control gain coefficient according to the moving average value at this position. As described above, by changing the number of samples and the control gain coefficient in accordance with the position (mainly depth), there is an effect that the influence of waves and the like can be reduced.

  Moreover, in the above-described embodiment, the example in which the present invention is applied to the depth control in the vertical direction of the underwater vehicle 1 is shown, but the present invention is not limited to this, and the posture angle, the course, and the like are also included. It can be applied, and can also be applied to courses such as a ship on the water.

  In the above-described embodiment, the hardware configuration has been described. However, the present invention is not limited to this, and arbitrary processing may be realized by causing a CPU (Central Processing Unit) to execute a computer program. Is possible. In this case, the computer program can be stored and provided to the computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Navigation body 2 Position detector 3 Speed detector 4 Setting device 5 Rudder actuator 6 Steering device 7 Moving average processing part 8 Moving average processing part 9 Control coefficient calculating part 10 PID control part 100 Ship automatic piloting apparatus 101 Setting means 102 Actual Course detector 103 Speed detector 104 Attitude detector 105 Gain calculation means 106 Rudder characteristic memory 107 External force estimation means 108 Motion characteristic memory 110 Actuator

Claims (10)

A vehicle that sails on or under water,
The vehicle is
A sensor unit that detects the current speed, position or orientation and outputs a detection value;
A drive unit that changes the position or posture according to the control signal;
A control unit that generates the control signal based on the detection value input from the sensor unit and a set value indicating a target position or orientation and outputs the control signal to the drive unit; ,
The controller is
Among the detection values input from the sensor unit at predetermined sample time intervals, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
A traveling body that changes the number of samples so that the number of samples decreases when the detection value related to speed increases and the number of samples increases when the detection value related to speed decreases. A vehicle that sails on or under water,
The vehicle is
A sensor unit that detects the current speed, position or orientation and outputs a detection value;
A drive unit that changes the position or posture according to the control signal;
A control unit that generates the control signal based on the detection value input from the sensor unit and a set value indicating a target position or orientation and outputs the control signal to the drive unit; ,
The controller is
Among the detection values input at predetermined sample time intervals from the sensor unit, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
When the detection value related to speed increases, the sensor unit is controlled to shorten the sample time interval, and when the detection value related to speed decreases, the sensor unit is controlled to increase the sample time interval. . The controller is
A control gain parameter in a PID (Proportional Integral Derivative) control method is calculated based on the detected value related to speed,
The navigation body according to claim 1, wherein the control signal is generated by the PID control method based on the detection value, the set value, and the control gain parameter input from the sensor unit. An input unit that inputs a detection value from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water; and
A control signal is generated based on the detection value input from the sensor unit and a set value indicating a target position or posture, and the driving unit that changes the position or posture of the traveling body, A control unit that outputs a control signal,
The controller is
Among the detection values input at predetermined sample time intervals from the sensor unit, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
A control device that changes the number of samples so that the number of samples decreases when the detection value related to the speed increases and the number of samples increases when the detection value related to the speed decreases. An input unit that inputs a detection value from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water; and
A control signal is generated based on the detection value input from the sensor unit and a set value indicating a target position or posture, and the driving unit that changes the position or posture of the traveling body, A control unit that outputs a control signal,
The controller is
Among the detection values input at predetermined sample time intervals from the sensor unit, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
A control device that controls the sensor unit to shorten the sample time interval when the detection value related to speed increases, and controls the sensor unit to increase the sample time interval when the detection value related to speed decreases. The controller is
A control gain parameter in a PID (Proportional Integral Derivative) control method is calculated based on the detected value related to speed,
The control device according to claim 4 or 5, wherein the control signal is generated by the PID control method based on the detection value, the set value, and the control gain parameter input from the sensor unit. A control signal is generated based on a detection value input from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water and a setting value that indicates a target position or posture. A control method for outputting the control signal to a drive unit that changes the position or posture of the traveling body,
Among the detection values input from the sensor unit at predetermined sample time intervals, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
The steering control method, wherein the number of samples is changed so that the number of samples decreases when the detection value related to the speed increases and the number of samples increases when the detection value related to the speed decreases. A control signal is generated based on a detection value input from a sensor unit that detects a current speed, position, or posture of a traveling body that travels on or under water and a setting value that indicates a target position or posture. A control method for outputting the control signal to a drive unit that changes the position or posture of the traveling body,
Among the detection values input from the sensor unit at predetermined sample time intervals, a moving average value that is an average value of the detection values of the latest predetermined number of samples is used for generation of the control signal,
The control unit controls the sensor unit to shorten the sample time interval when the detection value related to speed increases, and controls the sensor unit to increase the sample time interval when the detection value related to speed decreases. . The control signal is generated by a PID (Proportional Integral Derivative) control method based on the detection value input from the sensor unit, a control gain parameter calculated based on the detection value relating to speed, and the set value. The steering control method according to claim 7 or 8. A program for causing a computer to execute the method according to any one of claims 7 to 9.

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