JPH0564282B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to a submersible vessel whose motion characteristics are known and whose buoyancy can be calculated at any time.
Regarding a buoyancy calculation device. [Prior Art] In order for a submersible vessel to operate underwater submergedly, it is desirable to be able to accurately grasp its tsurim and buoyancy at all times and make necessary adjustments. Adjustments are made depending on the intuition of experienced people. [Problem to be solved by the invention] Traditionally, the trim and buoyancy of a submersible have been adjusted depending on the intuition of experienced people, and for this reason, it has been necessary to understand them numerically and increase the degree of freedom. The drawback is that it is basically impossible to use it extensively. An object of the present invention is to provide a diving vessel buoyancy calculation device that eliminates such problems. [Means for Solving the Problems] The device of the present invention inputs a rudder angle signal obtained by a rudder angle sensor and a water speed signal obtained by a speed sensor in a submersible whose motion characteristics are known. and a first group of coefficients known in advance based on the structure of the submersible itself, and the characteristics of the external force brought about by physical conditions including the salinity and temperature of the fluid in the moving space of the submersible. In a matrix of an equation of motion expressed by a matrix formula whose elements include a known second group of coefficients and a state quantity including the depth of the submersible, the vertical velocity, the pitch angle, each pitch velocity, the trim, and the buoyancy. a motion equation coefficient calculation circuit that linearizes the equation of motion by determining all the coefficients; a motion characteristic memory that stores the first coefficient group and the second coefficient group; and a motion characteristic memory that stores the first coefficient group and the second coefficient group; A system model linearized based on the equation of motion and system noise linearized as follows, and an observation matrix whose observable quantities are a depth signal obtained by a depth sensor and a pitch angle obtained by a pitch angle sensor. The amount of state is estimated by a Kalman filter algorithm configured with an observation model formed based on a system state vector and observation noise, and the amount of trim and buoyancy of the submersible is calculated. It has a configuration including a calculation circuit. [Example] Next, the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the configuration of a submersible boat trim/buoyancy calculation device according to the present invention. The configuration of the embodiment shown in FIG. 1 is a steering angle sensor 1, a speed sensor 2, a motion equation coefficient calculation circuit 3, a motion characteristic memory 4, a trim/buoyancy calculation circuit 5, a depth sensor 6, a pitch angle sensor 7, and a display circuit. 8. The rudder angle sensor 1 detects a submersible rudder angle signal Bef and a transverse rudder angle signal Bea that are actually applied to the submersible rudder and transverse rudder in order to give pitch motion to the submersible, and supplies them to the equation of motion coefficient calculation circuit 3. . As is well known, submersible ships are equipped with three types of rudders, and those that change the pitch angle of the ship are two side rudders installed horizontally near the stern and symmetrically about the bow and stern axis, and a submersible rudder that changes the pitch angle of the ship. There are two submerged rudders installed near the bow of the ship horizontally and symmetrically about the bow and stern axis, and in addition to these, there is a vertical rudder at the stern as a direction rudder. FIG. 2 is a submersible rudder arrangement diagram showing the arrangement of rudders in a submersible, and the submersible rudder and transverse rudder shown by dotted lines each show an example of operation. The speed sensor 2 detects the speed of the submersible with respect to the surrounding seawater, so-called water speed V, and supplies this to the equation of motion coefficient output circuit 3. The motion characteristic memory 3 stores known motion characteristics of the submersible in advance, which are read out and supplied to the motion equation coefficient calculation circuit 3. The motion characteristics stored in the motion characteristic memory 3 are contents related to the components of the equation of motion of the submersible, and these are determined in advance according to the design conditions and contents of the submersible. The above-mentioned equation of motion takes the water velocity V, the submerged rudder angle signal Bef, the side rudder angle signal Bea, the trim, the floating amount, etc. as unknowns, and if the water velocity and both rudder angle signals are determined among these unknowns, their coefficients can be calculated. It is constructed as a differential equation that is also determined.

〔Effect of the invention〕

As explained above, according to the present invention, by providing a means for calculating and displaying the rim and buoyancy of a submersible using the detection data of the rudder angle, speed, depth, and pitch angle sensors, human The effect is that it is possible to realize a submersible boat tsurim and buoyancy calculation device that can quantitatively know the tsurim and buoyancy at any time without relying on intuition, and can therefore greatly improve the efficiency of adjustment.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the configuration of a submersible trim and buoyancy calculation device of the present invention, and FIG. 2 is a layout diagram of a submersible rudder. 1... Rudder angle sensor, 2... Speed sensor, 3...
Motion equation coefficient calculation circuit, 4...Movement characteristic memory, 5...Trim/buoyancy calculation circuit, 6...Depth sensor, 7...Pitch angle sensor, 8...Display circuit.

Claims (1)

[Claims] 1. In a submersible whose motion characteristics are known; a rudder angle signal obtained by a rudder angle sensor and a water speed signal obtained by a speed sensor are input, and a known motion characteristic is determined in advance based on the structure of the submersible itself. a second group of coefficients known in advance based on the characteristics of external forces caused by physical conditions including the salinity and temperature of the fluid in the moving space of the submersible; and the depth of the submersible; A motion that linearizes the equation of motion by determining all the coefficients in the matrix of the equation of motion expressed by a matrix formula whose elements are vertical velocity, pitch angle, pitch angular velocity, and state quantities including trim and buoyancy. an equation coefficient calculation circuit; a motion characteristic memory that stores the first coefficient group and the second coefficient group; a motion characteristic memory that stores the first coefficient group and the second coefficient group; An observation model formed based on an observation matrix whose observable quantities are the depth signal obtained by the depth sensor and the pitch angle obtained by the pitch angle sensor, the system state vector, and observation noise. A diving/buoyancy calculation circuit for estimating the state quantity using a Kalman filter algorithm and calculating the diving/buoyancy of the submersible. .