JPH06341852A - Underwater navigation body and its attitude control method - Google Patents

Abstract

PURPOSE:To precisely make a navigation-body main body navigate to a target position by precisely controlling the attitude of the navigation-body main body. CONSTITUTION:A control device which outputs a control signal to servomotors of individual rudders on the basis of a detection signal from a detection part detecting an attitude is installed. The control device is provided with a control system where a roll request angle DELTAroll which is required for correcting the rolling of a navigation-body main body is distributed equally to the servomotors of the individual rubbers, the rolling is corrected, a yaw request angle DELTAyaw and a pitch request angle DELTApitch which are required for correcting the up-and- down direction and the right-and-left direction of the navigation-body main body are limited within the range of residual steerable angles alpha, beta of the individual rudders which have been steered by the correction of the rolling, a limited yaw request angle DELTAyaw' is distributed equally to the servomotors of the up-and- down rudders, a limited pitch request angle DELTApitch is distributed equally to the servomotors of the right and left rudders, and the up-and-down or right-and- left attitude of the navigation-body main body is controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater vehicle which has a single screw and whose attitude is controlled by rudders provided in the upper, lower, left and right sides of the screw, and a method for controlling the attitude thereof. .

[0002]

2. Description of the Related Art Conventionally, in order to accurately sail a body of a running body which sails in water by a single screw provided at the rear end, to the vicinity of the upper and lower sides and the left and right sides of the screw. The rudder on the ship was used to control the attitude of the main body of the watercraft. That is, when the body of the vehicle is vertically displaced, the left and right rudders are steered, and when the body of the vehicle is vertically displaced, the vertical rudder is steered to correct the displacement. It was

[0003]

By the way, since the above-mentioned main body of the running body is propelled by a single screw, the main body of the running body itself rolls around its axis along with the rotation of this screw. In some cases, good attitude control by vertical and horizontal rudder may not be performed, and the vehicle may not be accurately sailed to the target position.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an underwater vehicle that accurately travels to a target position and a posture control method thereof.

[0005]

The underwater vehicle according to the first aspect of the invention travels in water by a single screw provided at the rear end, and is provided near the vertical and lateral sides of the screw. An underwater vehicle whose attitude is controlled by the rudder, provided with detection means for detecting the attitude of the main body of the underwater vehicle,
A rolling correction control for steering the rudder evenly in order to correct the rolling of the body of the running body when the detecting means detects rolling around the axis of the body of the running body, and
When the detecting means detects the tilt of the body of the running body in the left-right direction, yaw correction control for steering the upper and lower rudders to correct the tilt of the body of the running body; When a tilt in the up and down direction of the vehicle is detected, a control means for performing pitch correction control for steering the left and right rudders is provided in order to correct the tilt of the main body of the vehicle, and the control means is the rolling means. The correction control is performed by prioritizing the yaw correction control and the pitch correction control.

In the attitude control method for an underwater vehicle according to the second aspect of the invention, a single screw provided at the rear end is used to travel in water, and a rudder is provided near the upper and lower sides and near the left and right sides of the screw. This is a method for controlling the attitude of an underwater vehicle in which the attitude is controlled.When the body of the underwater vehicle rolls around its axis, the steering angle required to correct this rolling is determined, and this steering angle is set to each steering angle. The rolling body of the running body is corrected by equally dividing the steering body, and the rudder body is steered by steering each rudder within the remaining steerable angle of each rudder steered by the rolling correction. It is characterized by controlling the up / down or left / right posture.

[0007]

According to the underwater vehicle of the first aspect of the present invention, the rolling correction control for correcting the rolling of the main body of the traveling body is always preferentially performed. Therefore, the yaw correction control and the pitch correction control are performed in this state. As a result, the vertical or horizontal deviation of the main body of the navigation vehicle is accurately corrected. According to the attitude control method for an underwater vehicle of the second invention, when controlling the vertical or horizontal attitude of the vehicle body, the remaining steerable angle of each rudder steered to correct the rolling. Each rudder is steered within the range of. That is, it is possible to sufficiently perform rolling correction by each rudder.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the underwater vehicle and attitude control method therefor according to the present invention will be described below. First, the schematic structure of the underwater vehicle will be described with reference to FIGS. 1 and 2. In the figure, reference numeral 1 is a main body of a running body that runs underwater. A single screw 2 is provided at the rear end of the navigation body 1, and rudders 3, 3, ... Are provided near the rear end near the top and bottom of the screw 2 and near the left and right. .

[0009] That is, the main body 1 of the vehicle is provided with the screw 2
Are propelled forward by being rotated and given a propulsive force, and their attitudes are controlled by the respective rudders 3, 3, .... In addition, a detection unit (detection means) 4 (see FIG. 3) for detecting the state of the underwater posture of the underwater body 1 inside the underwater body 1 near the tip.
Is provided in the vicinity of the rear end of the screw 2
A drive source (not shown) including a motor for rotating the motor is provided. Further, a control device (control means) 6 (see FIG. 3) is provided in an intermediate portion of the main body 1 of the running body,
As shown in the functional block diagram of FIG. 3, a detection signal from the detection unit 4 is input to the control device 6.

The control device 6 outputs a control signal to the servomotors 7, 7 for steering the upper, lower, left and right rudder 3, 3, ... Based on the detection signal from the detection unit 4, and the main body of the running body. The posture of 1 is controlled. Next, the control system of the control device 6 provided in the navigation body 1 having the above structure will be described based on the block diagram shown in FIG. 4 with reference to FIGS. 1 to 3. In addition, here, the coordinate system of the navigation body 1 is set as shown in FIGS.

(1) When the rolling of the running body 1 is corrected (rolling correction control) While the running body 1 is propelled by the screw 2, as the screw 2 rotates, the running body 1 Axis G
When the vehicle starts rolling in the direction of the arrow B in FIG. 2 around the center, the rolling of the navigation body 1 is detected by the detection unit 4, and a detection signal is output to the control device 6.

Then, the control device 6 obtains the required steering angle of each of the rudders 3, 3 ... Required for correcting the rolling of the main body 1 of the vehicle, and the required steering angle is the required roll angle Δro.
It is output as ll and sent to the transfer element Kr. And
With this transmission element Kr, the roll required angle Δroll is divided equally (four) into the number of rudders 3, 3, ...
It is output as a roll 'to the servo motors 7, 7, ... Of the respective rudders 3, 3. That is, in the transfer element Kr, the arithmetic processing as in the following equation is performed.

[0013]

[Equation 1] Δroll ′ = 1/4 · Δroll

Here, in the upper rudder 3u, the summing point T
The roll control angle −Δroll ′ is output to the servomotor 7u for the upper rudder 3u via u, and the upper rudder 3u is tilted by a predetermined angle in the arrow B direction in FIG. 2 by the servomotor 7u, and in the lower rudder 3d, The roll control angle Δroll 'is output to the servomotor 7d for the lower rudder 3d via the addition point Td,
The servomotor 7d tilts the lower rudder 3d in the direction of arrow C in FIG. 2 by a predetermined angle.

In the right rudder 3r, the summing point Tr
The roll control angle Δroll ′ is output to the servomotor 7r for the right rudder 3r via the servomotor 7r, and the right rudder 3r is tilted in the direction of arrow D in FIG.
At l, the roll control angle -Δroll 'is output to the servomotor 7l for the left rudder 3l via the combining point Tl, and the servomotor 7r tilts the left rudder 3l by a predetermined angle in the arrow E direction in FIG. .

As described above, the rudder bodies 3, 3 ... Are steered at a predetermined angle, so that the main body 1 of the running body is forced to roll in a direction opposite to the rolling direction (direction indicated by arrow in FIG. 2). Is applied, and the rolling force acting on the body 1 of the traveling body is canceled by the force of the rolling in the opposite direction, so that the rolling of the body 1 of the traveling body is eliminated. next,
During the rolling correction control, the vertical rudders 3u, 3d
A case will be described in which the left / right rudder 3r, 3l corrects the deviation of the running body 1 in the left / right or up / down directions.

(2) Correcting the lateral displacement of the main body 1 of the running body (yaw correction control) Based on the detection signal from the detection unit 4, the control device 6
The main body 1 of the vehicle which is displaced to the left or right of the main body 1 of the vehicle.
The required steering angle of the vertical rudders 3u, 3d required to correct the deviation of the steering angle is calculated, and this required steering angle is the yaw required angle Δyow.
The yaw request angle Δyow is changed to Δyow ′ by the processing described later by passing through the saturation element Fy and transmitted to the transfer element Ky. At the transfer element Ky, the yaw request angle Δyow ′ is changed to the vertical rudder 3u, The vertical rudder 3u, 3d as the yaw control angle Δyow ″, which is evenly divided (halved) into the number of 3d.
Is output to the servo motors 7u and 7d. That is, in this transfer element Ky, the arithmetic processing as in the following equation is performed.

[0018]

[Equation 2] Δyow ″ = 1/2 · Δyow ′

As a result, the vertical rudders 3u and 3d are
In addition to the angle steered by the rolling correction control, each tilts by a predetermined angle. Here, when the running body 1 is directed in the direction indicated by the arrow G in FIG. 1, the vertical rudders 3u and 3d are directed in the directions indicated by arrows B and C in FIG. When directed to, the vertical rudders 3u and 3d are directed in the directions of arrow N and C in FIG.

(3) Correction of Vertical Deviation of the Running Body 1 (Pitch Correction Control) Based on the detection signal from the detection unit 4, the control device 6
The main body 1 of the moving body which is offset to either the upper or lower side of the main body 1 of the moving body.
The required steering angle of the left and right rudders 3r, 3l required to correct the deviation of the pitch is calculated, and this required steering angle is the pitch required angle Δpi.
This pitch required angle Δpitch is output as tch and passes through the saturation element Fp, so that the pitch required angle Δpitch becomes Δpitc.
is transmitted to the transfer element Kp as h ', and this transfer element K
At p, the required pitch angle Δpitch ′ is output to the servomotors 7r and 7l of the right and left rudders 3r and 3l as a pitch control angle Δpitch ″ that is equally divided (halved) into the number of right and left rudders 3r and 3l. In this transfer element Kp, the arithmetic processing as shown in the following equation is performed.

[0021]

[Equation 3] Δpitch ″ = 1/2 · Δpitch ′

As a result, the right and left rudders 3r and 3l are
In addition to the angle steered by the rolling correction control, each tilts by a predetermined angle. Here, when the running body 1 is directed in the direction indicated by the arrow in FIG. 1, the right and left rudders 3r and 3l are directed in the directions indicated by arrows 2 and 2 in FIG. 2, and the body 1 is moved in the direction indicated by the arrow w in FIG. To turn to the right or left, the right and left rudders 3r and 3l are turned in the directions of arrow F and E in FIG.

Next, the saturation element F provided in the above control system
y and Fp will be described. These saturation elements Fy, Fp
Is the yaw request angle Δyow and the pitch request angle Δpit in the yaw correction control (2) and the pitch correction control (3).
ch is processed as follows. When the roll required angle Δroll is transmitted to the transmission element K, the transmission element K calculates the angles α and β from the roll required angle Δroll based on the following equation.

[0024]

## EQU4 ## α = β = 1 / 2 (4δmax− | Δroll |) where δmax: maximum steering angle of each rudder 3

The angles α and β are obtained by subtracting the sum of the steering angles of the rudders 3, 3 ... Required for the rolling correction control from the sum of the maximum steering angles δmax of the rudders 3, 3 ,. It is an angle obtained by equally dividing the total of the remaining steerable angles of the respective rudders 3, 3, ... Steered by the control (divided into yaw correction control and pitch correction control). The angles α and β calculated by the transfer element K are used as parameters in the saturation elements Fy and Fp.

That is, in these saturation elements Fy and Fp,
The yaw request angle Δyow and the pitch request angle Δpitch are limited based on the following equations.

(A) Processing of required yaw angle Δyow by saturation element Fy

[0028]

[Equation 5]

(B) Processing of required pitch angle Δpitch by the saturation element Fp

[0030]

[Equation 6]

That is, since the respective rudders 3, 3, ... Are already steered by the rolling correction control, the yaw control angle Δyow ″ and the pitch control angle Δpitch ″ may exceed the remaining steerable angles. Therefore, in the control system, the yaw control angle Δyow ″ and the pitch control angle Δpitch ″
Are steered within the remaining steerable angle range of the rudder 3, 3, ... Steered by the rolling correction control.

As described above, the control system of the above embodiment first gives priority to the rolling correction control for correcting the rolling of the main body 1 of each of the rudders 3, 3 ... The yaw correction control and the pitch correction control are performed within the remaining steerable angle range.

That is, no matter how much the rudders 3, 3, ... Are moved to perform the yaw correction control and the pitch correction control of the running body 1 while the running body 1 is rolling, Since it is rotated by the rolling and the coordinates are deviated, proper yaw correction control and pitch correction control cannot be performed. However, according to the underwater vehicle and its attitude control method of the present embodiment, the vehicle body is Since the rolling correction control for correcting the rolling of No. 1 is always performed preferentially, when the yaw correction control and the pitch correction control are performed in this state, the vertical deviation or the horizontal deviation of the main body 1 of the running body is prevented. Can be corrected accurately. As a result, the attitude of the running body 1 can be controlled extremely accurately, and the running body 1 can be made to accurately travel to a target position.

[0034]

As described above, according to the underwater vehicle and its attitude control method of the present invention, the following effects can be obtained. Since the rolling correction control for correcting the rolling of the main body of the navigation vehicle is always performed with priority, the yaw correction control and the pitch correction control are performed in this state, so that the vertical or horizontal deviation of the main body of the traveling body can be accurately determined. Can be corrected to. That is, since the yaw correction control and the pitch correction control are performed in a state where the rolling correction control is performed and the coordinates of the main body of the navigation body are determined, the attitude of the main body of the navigation body is controlled by the yaw correction control and the pitch correction control. The control can be performed extremely accurately, and the main body of the running body can be accurately driven to a target position.

[Brief description of drawings]

FIG. 1 is a perspective view of an underwater vehicle for explaining the configuration and structure of the underwater vehicle according to an embodiment of the present invention.

FIG. 2 is a rear view of the underwater vehicle for explaining the coordinates and the movement of the rudder of the underwater vehicle according to the embodiment of the present invention.

FIG. 3 is a functional block diagram illustrating functions of the underwater vehicle of the embodiment of the present invention.

FIG. 4 is a block diagram illustrating a control system of the control device according to the embodiment of the present invention.

[Explanation of symbols]

 1 main body of the vehicle 2 screw 3 rudder 4 detection means 6 control means G axis

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location G05D 1/08 Z 9323-3H

Claims (2)

[Claims] 1. An underwater vehicle in which underwater navigation is performed by a single screw provided at the rear end portion, and the attitude is controlled by rudders provided near the upper and lower sides and near the left and right sides of the screw, Detecting means for detecting the attitude of the main body of the vehicle is provided, and when the detecting means detects rolling around the axis of the main body of the vehicle, the rudder is moved to correct the rolling of the main body of the vehicle. Rolling correction control for even steering,
When the detecting means detects the tilt of the body of the running body in the left-right direction, yaw correction control for steering the upper and lower rudders to correct the tilt of the body of the running body; Control means for performing pitch correction control for steering the left and right rudder in order to correct the inclination of the main body of the vehicle when detecting the inclination in the vertical direction of the rolling body. An underwater vehicle, wherein correction control is performed prior to the yaw correction control and the pitch correction control. 2. A posture control method for an underwater vehicle, in which a single screw provided at a rear end portion of the underwater vehicle travels in water, and the attitude is controlled by rudders provided in the vicinity of the upper and lower sides and the left and right sides of the screw. When the body of the vehicle is rolling around its axis, the steering angle required to fix this rolling is calculated,
This steering angle is equally divided to each rudder to correct the rolling of the main body of the vehicle, and each rudder is steered within the remaining steerable angle of each rudder steered by this rolling correction. A method for controlling the attitude of an underwater vehicle, characterized in that the attitude of the underwater vehicle is controlled vertically or horizontally.