JPS5843892A - Automatic control device for unbalanced buoyancy and moment of submarine boat - Google Patents

Abstract

PURPOSE:To control the unbalanced buoyancy and moment of the titled boat, by obtaining the balance of the submarine boat based on the steering angle output from an automatic steering control device. CONSTITUTION:An attitude angle detector 1 and a depth detector 2 detect the attitude angle and the depth of the submarine boat and output the results to steering servo systems 7 and 8 through gain setting devices 3-6. Adders 12-16, 24, and 26 and gain setting devices 9-11, 20-23, 27, and 28 supply the unbalanced buoyancy and moment signals to an automatic valve control device 32 together with the signal from a boat's speed detector 18. The automatic valve control device 32 controls a water injecting, draining, and moving tank 33 together with the steering angle signal from a judging device 31. Thus the submarine boat 29 is automatically controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for automatically controlling the unbalanced buoyancy forces and moments of a submersible or a controlled vessel when the vessel is sailing.

Conventionally, the equilibrium state of a submersible has been determined either by human feeling, or by calculating the unbalanced buoyancy and sinking forces and peaks, and manually adjusting the equilibrium state. Ta. Moreover, in order to create an equilibrium state, K is
While the submersible was running at slow speed, I poured water into the tank based on my experience, and while moving the water, I repeated this operation several times using a method of thought and error, and then adjusted the %A9. This method often depended on the skill level of the individual and required a great deal of training time. In addition, the method of establishing an equilibrium state manually based on the value determined by calculation has been accompanied by difficulty in adjustment (due to time delay and calculation error).

The present invention was made in order to eliminate the time delay caused by personal speed and manual operation. We focused on the fact that the deviation, depth deviation, and rudder angle of a submersible are in a functional relationship with the unbalanced buoyancy force and moment as external forces acting on the submersible. By utilizing the present invention to control an automatic pulp control device, it is intended to provide a device that can automatically control the unbalanced surface buoyancy force and moment of a submersible.

Examples of the present invention will be explained in detail below.

Generally, a submersible has a forward rudder and a rear aperture, and the steering angle α of the forward rudder is
(hereinafter referred to as steering angle α), and the steering angle of the rear aperture is β (hereinafter referred to as steering angle β
), and the attitude angle deviation (pitching angle deviation) of the submersible is Δθ, 8f! When the degree deviation is jh, the relationship between α, β, Δθ and jh according to the automatic steering control system fllK is as shown in the first equation.

However, al, bl and a3. bB is the attitude angle and depth gain constant that is fed back to the front rudder and rear aperture (
+) or (-) sign.

Does this automatic steering control device provide stable steady cruising? If the attitude angle deviation is lθ, the depth deviation is jh, and the unbalanced floating force and moment are Δ2 and ΔM, respectively, then the balance equation of the submersible is expressed by the unique equation 1 of the automatic steering control system. The second and third equations are obtained.

(E, +&t1m+&5Es)V”Δ#+(Jgl+b
sE1) V'jh=EaΔ2 ・・・・・・・・・
(2) FoΔ#+(Fl + &xF*+ aiFs)
VΔ#+ (bxF*+biFs)V Δh=y4Δ
M...Song・(3)・However, El, )4 El,
Ea, Fo, Fl, F4 Fa, F4 are fixed constants determined by the characteristics specific to the hull and include the sign (+) or (→. Also, V represents the speed of the hull.

A submersible is sailing underwater with the automatic steering control system activated.If the hull has an unbalanced floating force and a moment of , unbalanced floating forces and moments, depth deviations, attitude angle deviations, and rudder angles are balanced at a certain position. Whether or not the submersible is in a balanced state is determined by the rudder angle output of the automatic steering control device, and if the submersible is in a balanced state, the water injection and water regulation valves are set to zero the depth deviation and attitude angle deviation. The automatic valve control device adjusts the water supply and water flow. This maintains a constant state of equilibrium against the unbalanced floating and sinking forces and moments (K) that change from moment to moment.

Here, the attitude angle deviation Δθ and the depth deviation Δh can be obtained as deviation signals from the attitude angle detector and the depth detector of the automatic steering control device, and the steering angle can be obtained as the calculation result of the first equation.

Moreover, the pulp automatic control device is a device that automatically opens and closes the water filling valve and the water regulation valve based on the steering angle ratio.

Next, one embodiment of the present invention will be explained with reference to the drawings. As shown in Fig. 1, if the attitude angle deviation of the submarine 29 (D automatic steering control device) is Δ0 from the proper sailing attitude angle, and the depth deviation from the setting S* is jh, then the jh and jh flame forces are Detected by the angle detector I11 and the depth detector 2 and applied to this signal a gain setter 3.4.S and 6Vc
Therefore, the gain &Lb1. that satisfies the first equation. LL
The outputs of gain settings 113 and S actuate rudder α through steering servo system 7 - and the outputs of gain setters 4 and 6 actuate rudder I through steering servo system 8. Now, using this control, the attitude angle deviation signal Δθ shown in FIG. 2 is set to the gain setter HC! Excerpt 1. ? -Kode E1
Δ0 is created and added to the adder 16.

Attitude angle gain setting 1nso output and 811 degree gain setting device 3
The outputs of are added by the adder 12, and ζ where, j1g
Activate the +b1Δh signal, send it to the gain setter 10,
Take EmaxjU + EsJjh signal and add to subtraction 1) 16. Further, an adder 14 adds the outputs of the attitude angle gain setter 6 and the depth gain setter 4, and a gain setter 11 adds the outputs of the depth gain setter 6 and the depth gain setter 4.
s&a no+EsbsΔh signal 2, and add this to the adder 16. The output signal of this adder 16 is further sent to a variable gain setter 17, and the speed signal V detected by the hull speed detector 18 is further converted into a signal v8 by a square amplifier 19, and thus the variable gain k is Setting 4!17
By setting , an output corresponding to the left side of the second equation is obtained on the output side of the setter 17. Furthermore, when a gain constant 1/lc4 is applied to this signal by the gain setter 2o, the output becomes Δ2.

Similarly, an output signal -M is obtained by giving a gain constant of 1/F4 by the gain setter 27.

Further, the rudder angle output obtained from the automatic steering control device is filtered by a filter 30, and a determiner 31 determines whether or not the rudder angle is in a steady state. Adjust the automatic control value &32, Δ2 and N
Injection, drainage, and water conditioning equivalent to the unbalanced force of If the condition is not steady, stop the automatic valve control device. The results of the water filling and water conditioning are fed back every moment to the submersible vessel 29 via the water filling and water conditioning tank 33. With the closed loop control system as described above, it is possible to automatically control the unbalanced floating and sinking forces and dispersion of a submersible.

The following relational expression may be used for the equation (1) of the optical embodiment described above.

By using the above control formula, it is possible to bring the submersible to steady navigation much more quickly.

However, al, bl, al and bs are the attitude angle and depth gain constants that are fed back to the rudders a and β, and 14 b@, 14 and b4 are the attitude angular velocity and search velocity that are fed back to the rudders α and I. It is a gain constant. Each constant contains the sign (-)) or (→.

The detector in the embodiments described above does not necessarily have to be that of an automatic steering control system.

In addition, since the motion system of submersibles varies slightly depending on the individual submersible, the matters described in the main text are merely examples, and therefore the purpose of this invention It is not intended to limit the scope.

As explained above, the present invention uses an automatic steering control device to determine the unbalanced floating force Δ2 and moment ΔM, determines the steering angle output from the same device, and based on the results, pulp By configuring a closed-loop control system that adjusts the automatic control device and feeds back to the attitude angle detector and depth detector via the submersible, the underwater cruising depth of the submersible can be kept constant and the submersible's depth can be maintained constant. At all speeds, it has the effect of automatically controlling unbalanced floating forces and moments of the submersible.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an automatic steering control device, and FIG. 2 is a block diagram showing an embodiment of the present invention. 1...Attitude angle detector, 2...Depth detection -13~6.9~11.20~23,27.28...
... Gain setting device, 7, ... Steering servo system, 1
2 to 16, 24.26...Adder, 17.25
...Variable gain setter, 18...Hull speed detection salary, 19...Square amplifier, 29...
...submersible, 30...filter, 31...
...Judgment device, 32...Pulp automatic control device, 3
3... Pour water, ¥-1t1

Claims (1)

[Claims] An automatic steering control device that controls the attitude angle and depth stably and constant by transmitting signals of the attitude angle and depth of the submersible to the rudder; A system for detecting unbalanced buoyant forces and unbalanced crests of a submersible, and a system for injecting water into the submersible's water filling tank and water transfer tank based on the rudder angle output from the automatic steering control device. The automatic valve control device that controls the displacement and water transfer adjustment valves prevents damage to the submersible.