JPH08282589A - Posture angle control device for submarine boat - Google Patents
Posture angle control device for submarine boatInfo
- Publication number
- JPH08282589A JPH08282589A JP7110150A JP11015095A JPH08282589A JP H08282589 A JPH08282589 A JP H08282589A JP 7110150 A JP7110150 A JP 7110150A JP 11015095 A JP11015095 A JP 11015095A JP H08282589 A JPH08282589 A JP H08282589A
- Authority
- JP
- Japan
- Prior art keywords
- control
- angle
- signal
- attitude angle
- rudder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000010355 oscillation Effects 0.000 abstract 1
- 230000001052 transient effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/048—Control of altitude or depth specially adapted for water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、潜水船（水中航走体を
含む）の姿勢角制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude angle control device for a submersible (including underwater vehicle).
【０００２】[0002]
【従来の技術】潜水船（図１参照）の姿勢角（船体の縦
傾斜角）を制御するため、従来の姿勢角制御装置では、
図３に示すように、目標姿勢角信号および現姿勢角信号
を入力して、比例制御演算手段，積分制御演算手段およ
び微分制御演算手段により算出した結果に基づき、指令
横舵角信号を横舵のアクチュエータへ送って、船体の姿
勢角を目標姿勢角に近づけることが行なわれている。2. Description of the Related Art In order to control the attitude angle (vertical tilt angle of the hull) of a submersible (see FIG. 1), a conventional attitude angle control device
As shown in FIG. 3, the target attitude angle signal and the current attitude angle signal are input, and the command side rudder angle signal is steered based on the result calculated by the proportional control calculation means, the integral control calculation means, and the differential control calculation means. Is sent to the actuator of (1) to bring the attitude angle of the hull close to the target attitude angle.
【０００３】[0003]
【発明が解決しようとする課題】ところで、潜水船の姿
勢角の変化は一般的に安定であることが多い。このた
め、大きな姿勢角を取って深度変換する場合には姿勢角
をゼロに戻そうとする復元モーメントが作用する。また
潜水船が旋回する場合、船体に対して非線形流体力が発
生し、これが姿勢角を上げるかまたは下げるモーメント
として働く。By the way, changes in the attitude angle of a submersible are generally stable in many cases. Therefore, when a large posture angle is taken and depth conversion is performed, a restoring moment acts to return the posture angle to zero. When the submarine turns, a non-linear fluid force is generated on the hull, which acts as a moment to raise or lower the attitude angle.
【０００４】このように、目標姿勢角への制御の際に、
復元力や非線形流体力などの不平衡モーメントが船体に
作用する場合、従来の姿勢角制御装置では上記不平衡モ
ーメントを補填するため積分制御を実施しているが、過
渡応答時に船体が不安定な動きをしたり、姿勢角の変化
が収束するまでに時間がかかったりする場合がある。本
発明は、このような問題点の解消をはかろうとするもの
で、潜水船の横舵の舵角制御のためにフィードフォワー
ド制御を併用することにより、潜水船の姿勢角制御を適
切に行なえるようにした装置を提供することを目的とす
る。In this way, when controlling the target posture angle,
When an unbalanced moment such as a restoring force or a non-linear fluid force acts on the hull, the conventional attitude angle control device performs integral control to compensate for the unbalanced moment, but the hull becomes unstable during transient response. In some cases, it may take time to move or the change in posture angle may take time to converge. The present invention is intended to solve such a problem, and by using feedforward control for controlling the steering angle of the side rudder of a submersible vehicle, the attitude angle control of the submersible can be appropriately performed. It is an object of the present invention to provide a device configured to do so.
【０００５】[0005]
【課題を解決するための手段】前述の目的を達成するた
め、本発明の潜水船用姿勢角制御装置は、潜水船の姿勢
角を制御すべく同潜水船の横舵の舵角調整用アクチュエ
ータに指令横舵角信号を送る姿勢角制御系をそなえ、同
姿勢角制御系が、目標姿勢角信号と現姿勢角信号とを受
けてそれぞれ比例制御量および積分制御量の演算を行な
う比例制御演算手段および積分制御演算手段と、現姿勢
角信号を受けて微分制御量の演算を行なう微分制御演算
手段とをそなえるとともに、目標姿勢角信号と船体運動
状態量信号とを受けて予測制御量の演算を行なう予測制
御演算手段をそなえ、上記指令横舵角信号として、上記
比例制御演算手段からの比例制御信号，上記積分制御演
算手段からの積分制御信号および上記微分制御演算手段
からの微分制御信号と共に、上記予測制御演算手段から
の予測制御信号を加え合わせた制御信号が、上記横舵の
舵角調整用アクチュエータに送られるように構成された
ことを特徴としている。In order to achieve the above object, the attitude angle control device for a submersible vehicle of the present invention is provided with an actuator for adjusting the steering angle of the side rudder of the submersible vehicle in order to control the attitude angle of the submersible vessel. Proportional control calculation means having a posture angle control system that sends a command side-steering angle signal, and the posture angle control system receives the target posture angle signal and the current posture angle signal and calculates the proportional control amount and the integral control amount, respectively. And integral control calculation means, and differential control calculation means for calculating the differential control amount by receiving the current attitude angle signal, and calculating the predicted control amount by receiving the target attitude angle signal and the ship motion state quantity signal. A predictive control calculation means is provided for performing the command side rudder angle signal as a proportional control signal from the proportional control calculation means, an integral control signal from the integral control calculation means, and a differential control signal from the differential control calculation means. Together, control signals the combined addition of predictive control signal from the predictive control arithmetic means, and characterized in that it is configured to be sent to the steering angle adjustment actuator of the lateral rudder.
【０００６】また、本発明の潜水船用姿勢角制御装置
は、上記予測制御演算手段が、次の運動方程式に運動状
態量仮定式を代入して演算した横舵角δSに基づき予測
信号を発信するように構成されたことを特徴としてい
る。運動方程式を［数３］式にて表す。Further, in the attitude angle control device for a submersible vehicle of the present invention, the predictive control calculating means transmits a predictive signal based on the lateral steering angle δ S calculated by substituting the motion state quantity hypothetical expression into the following motion equation. It is characterized by being configured to. The equation of motion is represented by the equation [3].
【数３】 運動状態量仮定式を［数４］式にて表す。(Equation 3) The motion state quantity assumption formula is expressed by the formula [4].
【数４】 ただし ｕ：ｘ軸方向速度 ｖ：ｙ軸方向速度 ｗ：ｚ軸方向速度 ｐ：ｘ軸まわりの角速度 ｑ：ｙ軸まわりの角速度 ｒ：ｚ軸まわりの角速度 δs：姿勢角制御の舵の舵角（横舵角） θ：姿勢角（目標姿勢角） φ：ロール角 ψ：針路 δr：針路変換用の舵の舵角 Ｋ：船体固有の定数 Ｈ：深度[Equation 4] However, u: velocity in the x-axis direction v: velocity in the y-axis direction w: velocity in the z-axis direction p: angular velocity around the x-axis q: angular velocity around the y-axis r: angular velocity around the z-axis δ s : rudder for attitude angle control Angle (side rudder angle) θ: Attitude angle (target attitude angle) φ: Roll angle ψ: Course δ r : Rudder angle of rudder for course conversion K: Hull-specific constant H: Depth
【０００７】[0007]
【作用】上述の本発明の潜水船用姿勢角制御装置では、
潜水船の姿勢角の変更時に、その姿勢角制御系が、目的
姿勢角と現姿勢角とに基づく比例制御信号，積分制御信
号および微分制御信号のほかに、さらに目標姿勢角と船
体運動状態量とに基づくフィードフォワード制御用の予
測制御信号を加えた指令横舵角信号を、横舵の舵角調整
用アクチュエータに送るので、過渡応答時の不安定な振
動（ハンチング）が減少し、姿勢角変化の収束時間が短
くなって、潜水船の運動を安定させることができる。In the attitude angle control device for a submersible of the present invention described above,
At the time of changing the attitude angle of the submersible, the attitude angle control system, in addition to the proportional control signal, the integral control signal and the differential control signal based on the target attitude angle and the current attitude angle, further changes the target attitude angle and the ship motion state quantity. The command side rudder angle signal, which is added to the predictive control signal for feed forward control based on and, is sent to the actuator for adjusting the rudder angle of the side rudder, which reduces unstable vibration (hunting) during transient response and reduces the attitude angle. The change convergence time is shortened, and the motion of the submarine can be stabilized.
【０００８】[0008]
【実施例】以下、図面により本発明の一実施例としての
潜水船用姿勢角制御装置について説明すると、図１は潜
水船の座標系を示す説明図、図２は上記姿勢角制御装置
の概略構成を示すブロック線図である。DESCRIPTION OF THE PREFERRED EMBODIMENTS A posture control system for a submersible vessel according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory view showing a coordinate system of a submersible vessel, and FIG. It is a block diagram showing.
【０００９】図１に示す潜水船の姿勢角（船体の縦傾斜
角）を制御するため、その横舵１の舵角調整が、図２に
示す本実施例の潜水船用姿勢角制御装置で行なわれるよ
うになっている。すなわち、図２に示す横舵の舵角調整
用アクチュエータ１ａが姿勢角制御系からの指令横舵角
信号を受けるようになっている。In order to control the attitude angle (vertical inclination angle of the hull) of the submarine shown in FIG. 1, the rudder angle of the side rudder 1 is adjusted by the attitude angle control device for a submersible of this embodiment shown in FIG. It is supposed to be. That is, the steering angle adjusting actuator 1a for the side rudder shown in FIG. 2 receives the command side steering angle signal from the attitude angle control system.
【００１０】図２に示すように、姿勢角制御系には、指
令器からの目標姿勢角信号とセンサからの現姿勢角信号
とを受けてそれぞれ比例制御量および積分制御量の演算
を行なう比例制御演算手段２および積分制御演算手段３
と、上記現姿勢角信号を受けて微分制御量の演算を行な
う微分制御演算手段４とが設けられるとともに、上記目
標姿勢角信号と各センサからの船体運動状態量信号とを
受けて予測制御量の演算を行なう予測制御演算手段５が
設けられている。As shown in FIG. 2, the attitude angle control system receives a target attitude angle signal from a commander and a current attitude angle signal from a sensor, and calculates proportional control quantity and integral control quantity, respectively. Control calculation means 2 and integral control calculation means 3
And a differential control calculation means 4 for calculating a differential control amount by receiving the current posture angle signal, and a predicted control amount by receiving the target posture angle signal and the ship motion state amount signal from each sensor. Predictive control calculation means 5 for performing the calculation of is provided.
【００１１】そして、比例制御演算手段２，積分制御演
算手段３および微分制御演算手段４では、従来と同様の
演算が行なわれて、それぞれ比例制御信号，積分制御信
号および微分制御信号が発信されるようになっている
が、予測制御演算手段５では、次の運動方程式に運動状
態量仮定式を代入して算出した横舵角δsに基づき予測
制御信号が発信されるようになっている。運動方程式を
［数５］式にて表す。Then, in the proportional control calculating means 2, the integral control calculating means 3 and the differential control calculating means 4, the same calculation as in the conventional case is performed, and the proportional control signal, the integral control signal and the differential control signal are transmitted respectively. However, in the predictive control calculation means 5, the predictive control signal is transmitted based on the lateral steering angle δ s calculated by substituting the motion state quantity hypothetical formula into the following motion equation. The equation of motion is represented by [Equation 5].
【数５】 運動状態量仮定式を［数６］式にて表す。(Equation 5) The motion state quantity assumption formula is expressed by the formula [6].
【数６】 ただし ｕ：ｘ軸方向速度 ｖ：ｙ軸方向速度 ｗ：ｚ軸方向速度 ｐ：ｘ軸まわりの角速度 ｑ：ｙ軸まわりの角速度 ｒ：ｚ軸まわりの角速度 δs：姿勢角制御の舵の舵角（横舵角） θ：姿勢角（目標姿勢角） φ：ロール角 ψ：針路 δr：針路変換用の舵の舵角 Ｋ：船体固有の定数 Ｈ：深度(Equation 6) However, u: velocity in the x-axis direction v: velocity in the y-axis direction w: velocity in the z-axis direction p: angular velocity around the x-axis q: angular velocity around the y-axis r: angular velocity around the z-axis δ s : rudder for attitude angle control Angle (side rudder angle) θ: Attitude angle (target attitude angle) φ: Roll angle ψ: Course δ r : Rudder angle of rudder for course conversion K: Hull-specific constant H: Depth
【００１２】すなわち、通常、潜水船の航走において
は、姿勢角を一定とした深度変換または定常旋回（針路
変換速度一定）となるように制御が行なわれるため、潜
水船の運動状態量が上式のように仮定できる。なお、上
記の各記号δr,δs，ｐ，ｑ，ｒ，ｕ，ｖ，ｗについて
は、図１の座標系に示すとおりである。このようにし
て、従来と同様の比例制御信号，積分制御信号および微
分制御信号のほかに、予測制御信号を加えられた指令横
舵角信号が、横舵１の舵角調整用アクチュエータ１ａへ
送られるようになっている。That is, normally, when the submarine is sailing, the control is performed so that depth conversion or steady turning (constant course conversion speed) with a constant attitude angle is performed, so that the motion state amount of the submarine is increased. It can be assumed as the formula. The above symbols δ r , δ s , p, q, r, u, v, w are as shown in the coordinate system of FIG. In this way, in addition to the proportional control signal, the integral control signal and the differential control signal similar to the conventional one, the command side rudder angle signal to which the predictive control signal is added is sent to the rudder angle adjusting actuator 1a of the side rudder 1. It is designed to be used.
【００１３】上述の本実施例の潜水船用姿勢角制御装置
では、潜水船の姿勢角の変更時に、その姿勢角制御系
が、目的姿勢角と現姿勢角とに基づく比例制御信号，積
分制御信号および微分制御信号のほかに、さらに目標姿
勢角と船体運動状態量とに基づくフィードフォワード制
御用の予測制御信号を加え合わせた指令横舵角信号を、
横舵１の舵角調整用アクチュエータ１ａへ送るようにな
っているので、あらかじめ不平衡モーメントに対応でき
るように横舵角をとることができ、これにより過渡応答
時の不安定な振動（ハンチング）が減少し、姿勢角変化
の収束時間が短くなって、潜水船の運動を安定させるこ
とができる。In the above attitude control device for a submersible of the present embodiment, when the attitude angle of the submersible is changed, the attitude angle control system causes the proportional control signal and the integral control signal based on the target attitude angle and the current attitude angle. In addition to the differential control signal and the differential control signal, the command side rudder angle signal obtained by adding a predictive control signal for feedforward control based on the target attitude angle and the ship motion state quantity,
Since it is sent to the steering angle adjusting actuator 1a of the side rudder 1, the side rudder angle can be set in advance so as to cope with the unbalanced moment, and thereby unstable vibration (hunting) during transient response. And the convergence time of the change in attitude angle is shortened, and the motion of the submarine can be stabilized.
【００１４】[0014]
【発明の効果】以上詳述したように、本発明の潜水船用
姿勢角制御装置によれば、横舵の舵角調整用アクチュエ
ータに、従来と同様の比例制御信号，積分制御信号およ
び微分制御信号のほか、不平衡モーメントに対応するた
めのフィードフォワード制御として予測制御信号を付加
した指令横舵角信号が送られるので、過渡応答時の不安
定な振動（ハンチング）が減少し、姿勢角変化の収束時
間が短くなって、潜水船の運動を安定させる効果があ
る。As described in detail above, according to the attitude angle control device for a submersible vehicle of the present invention, the proportional control signal, the integral control signal, and the differential control signal similar to those in the conventional art are provided to the actuator for adjusting the steering angle of the side rudder. In addition to this, the command steering angle signal with a predictive control signal added is sent as feed-forward control to deal with the unbalance moment, so unstable vibration (hunting) during transient response is reduced and The convergence time is shortened, which has the effect of stabilizing the motion of the submarine.
【図１】本発明の装置により制御される潜水船の一例を
示す斜視図である。FIG. 1 is a perspective view showing an example of a submersible controlled by the device of the present invention.
【図２】本発明の一実施例としての潜水船用姿勢角制御
装置の概略構成を示すブロック線図である。FIG. 2 is a block diagram showing a schematic configuration of an attitude angle control device for a submersible as an embodiment of the present invention.
【図３】従来の潜水船用姿勢角制御装置の一例を示すブ
ロック線図である。FIG. 3 is a block diagram showing an example of a conventional attitude angle control device for a submersible.
１ 横舵 １ａ 舵角調整用アクチュエータ ２ 比例制御演算手段 ３ 積分制御演算手段 ４ 微分制御演算手段 ５ 予測制御演算手段 DESCRIPTION OF SYMBOLS 1 Side rudder 1a Steering angle adjustment actuator 2 Proportional control calculation means 3 Integral control calculation means 4 Differential control calculation means 5 Predictive control calculation means
Claims (2)
横舵の舵角調整用アクチュエータに指令横舵角信号を送
る姿勢角制御系をそなえ、同姿勢角制御系が、目標姿勢
角信号と現姿勢角信号とを受けてそれぞれ比例制御量お
よび積分制御量の演算を行なう比例制御演算手段および
積分制御演算手段と、現姿勢角信号を受けて微分制御量
の演算を行なう微分制御演算手段とをそなえるととも
に、目標姿勢角信号と船体運動状態量信号とを受けて予
測制御量の演算を行なう予測制御演算手段をそなえ、上
記指令横舵角信号として、上記比例制御演算手段からの
比例制御信号，上記積分制御演算手段からの積分制御信
号および上記微分制御演算手段からの微分制御信号と共
に、上記予測制御演算手段からの予測制御信号を加え合
わせた制御信号が、上記横舵の舵角調整用アクチュエー
タに送られるように構成されたことを特徴とする、潜水
船用姿勢角制御装置。1. An attitude angle control system for sending a command side rudder angle signal to an actuator for adjusting a rudder angle of a side rudder of the submersible ship to control the attitude angle of the submersible ship, wherein the same attitude angle control system comprises a target attitude. A proportional control calculating means and an integral control calculating means for receiving the angle signal and the current attitude angle signal to calculate the proportional control amount and the integral control amount, respectively, and a differential control for receiving the current attitude angle signal and calculating the differential control amount. And a predictive control calculating means for calculating a predictive control amount in response to the target attitude angle signal and the hull motion state amount signal, and as the command sideways steering angle signal, from the proportional control calculating means. A control signal obtained by adding the predictive control signal from the predictive control calculating means together with the proportional control signal, the integral control signal from the integral control calculating means, and the differential control signal from the differential control calculating means is An attitude angle control device for a submersible, which is configured to be sent to an actuator for adjusting a rudder angle of a lateral rudder.
置において、上記予測制御演算手段が、次の運動方程式
に運動状態量仮定式を代入して算出した横舵角δSに基
づき予測信号を発信するように構成されたことを特徴と
する、潜水船用姿勢角制御装置。運動方程式を［数１］
式にて表す。 【数１】 運動状態量仮定式を［数２］式にて表す。 【数２】 ただし ｕ：ｘ軸方向速度 ｖ：ｙ軸方向速度 ｗ：ｚ軸方向速度 ｐ：ｘ軸まわりの角速度 ｑ：ｙ軸まわりの角速度 ｒ：ｚ軸まわりの角速度 δs：姿勢角制御の舵の舵角（横舵角） θ：姿勢角（目標姿勢角） φ：ロール角 ψ：針路 δr：針路変換用の舵の舵角 Ｋ：船体固有の定数 Ｈ：深度2. The attitude angle control device for a submersible according to claim 1, wherein the predictive control calculation means predicts based on a lateral steering angle δ S calculated by substituting a motion state quantity hypothetical expression into the following equation of motion. An attitude angle control device for a submersible, which is configured to emit a signal. [Equation 1]
Expressed as a formula. [Equation 1] The motion state quantity assumption formula is represented by the formula [2]. [Equation 2] However, u: Velocity in the x-axis v: Velocity in the y-axis w: Velocity in the z-axis p: Angular velocity around the x-axis q: Angular velocity around the y-axis r: Angular velocity around the z-axis δ s : Rudder of attitude angle control Angle (side rudder angle) θ: Attitude angle (target attitude angle) φ: Roll angle ψ: Course δ r : Rudder angle of rudder for course conversion K: Hull-specific constant H: Depth
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7110150A JP3064204B2 (en) | 1995-04-11 | 1995-04-11 | Attitude control system for submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7110150A JP3064204B2 (en) | 1995-04-11 | 1995-04-11 | Attitude control system for submersible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08282589A true JPH08282589A (en) | 1996-10-29 |
| JP3064204B2 JP3064204B2 (en) | 2000-07-12 |
Family
ID=14528325
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7110150A Expired - Fee Related JP3064204B2 (en) | 1995-04-11 | 1995-04-11 | Attitude control system for submersible |
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| Country | Link |
|---|---|
| JP (1) | JP3064204B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101310148B1 (en) * | 2011-02-23 | 2013-09-24 | 부산대학교 산학협력단 | Attitude and depth control device for underwater moving object and with the same and control method thereof |
| JP2014075101A (en) * | 2012-10-05 | 2014-04-24 | Mitsubishi Heavy Ind Ltd | Control device |
| JP2015016826A (en) * | 2013-07-12 | 2015-01-29 | 三菱重工業株式会社 | Underwater sailing body, underwater sailing body controller, and underwater sailing body control method |
| JP2015033997A (en) * | 2013-07-12 | 2015-02-19 | 三菱重工業株式会社 | Underwater navigation body, and control device and control method thereof |
| JP2016078621A (en) * | 2014-10-16 | 2016-05-16 | 三菱重工業株式会社 | Navigation body control device, navigation body, method for control of navigation body, program |
| JP2019025928A (en) * | 2017-07-25 | 2019-02-21 | 三菱重工業株式会社 | Control device of underwater vehicle, underwater vehicle and control method of underwater vehicle |
| CN116774715A (en) * | 2023-05-31 | 2023-09-19 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
| CN116774715B (en) * | 2023-05-31 | 2024-06-07 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
-
1995
- 1995-04-11 JP JP7110150A patent/JP3064204B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101310148B1 (en) * | 2011-02-23 | 2013-09-24 | 부산대학교 산학협력단 | Attitude and depth control device for underwater moving object and with the same and control method thereof |
| JP2014075101A (en) * | 2012-10-05 | 2014-04-24 | Mitsubishi Heavy Ind Ltd | Control device |
| JP2015016826A (en) * | 2013-07-12 | 2015-01-29 | 三菱重工業株式会社 | Underwater sailing body, underwater sailing body controller, and underwater sailing body control method |
| JP2015033997A (en) * | 2013-07-12 | 2015-02-19 | 三菱重工業株式会社 | Underwater navigation body, and control device and control method thereof |
| JP2016078621A (en) * | 2014-10-16 | 2016-05-16 | 三菱重工業株式会社 | Navigation body control device, navigation body, method for control of navigation body, program |
| JP2019025928A (en) * | 2017-07-25 | 2019-02-21 | 三菱重工業株式会社 | Control device of underwater vehicle, underwater vehicle and control method of underwater vehicle |
| CN116774715A (en) * | 2023-05-31 | 2023-09-19 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
| CN116774715B (en) * | 2023-05-31 | 2024-06-07 | 新兴际华(北京)智能装备技术研究院有限公司 | Underwater vehicle attitude control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3064204B2 (en) | 2000-07-12 |
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