JPS5857360B2 - Switch - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a navigation control device for an underwater vehicle that navigates underwater.

When a human remotely controls an underwater vehicle, the addition of external disturbances such as tidal currents makes the control performance extremely difficult.

If the number of disturbance plugs is constant, depending on the level of skill of the operator, it may be possible to control the vehicle in response to the disturbance, but if the type of disturbance is not constant, control becomes extremely difficult.

And as a control method to reduce the influence of disturbance, I
) I D (differential-integral-proportional) control method, and a feedforward control method that uses a sensor that can directly detect disturbances to compensate for the effects of disturbances.

The former PID control method integrates the deviation and feeds it back, so it tends to cause overshoot or vibration when changing the target value.

Furthermore, it is impossible with the PID control method to create a control system that reduces the influence of disturbances when operated by a human.

In addition, in the case of the latter feedforward control method, when the disturbance acting on the underwater vehicle is limited to tidal currents, for example, tidal currents from all directions such as above, below, left and right, and front and back of the underwater vehicle can be considered. In this way, special sensors must be provided to directly detect disturbances in each direction.

This has the disadvantage that the structure is complicated and the sensor is expensive.

In view of the above points, the present invention aims to compensate for the influence of disturbances acting on an underwater vehicle when controlling the underwater vehicle without using a special sensor. It is an object of the present invention to provide a navigation control device for an underwater vehicle that can operate an underwater vehicle as if the disturbance is not applied to the underwater vehicle even if a disturbance is applied.

Further, the present invention estimates the disturbance acting on the underwater vehicle based on the operation amount applied to the underwater vehicle from the control means and the underwater state amount of the underwater vehicle, and uses this estimated amount of disturbance to the underwater vehicle. A navigation control device for an underwater vehicle is characterized in that the influence of disturbance acting on the underwater vehicle is compensated for by subtraction from the operation amount.

The present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an embodiment of the device of the present invention. In the figure, 1 is an underwater vehicle that navigates underwater, and this underwater vehicle 1 includes a propulsion unit 1a that generates thrust in the longitudinal direction and a vertical It is equipped with a propulsion device 1b that generates a thrust in the direction.

2 is underwater state quantity detection means provided in the underwater vehicle 1;
This underwater state quantity detection means 2 detects, for example, the velocity and acceleration of the underwater position X1 of the underwater vehicle 1 in the depth direction X.

Reference numeral 3 denotes a control means for outputting a manipulated variable M proportional to the displacement of the operating lever 3a as a signal; 4 a disturbance estimation circuit for estimating a disturbance acting on the underwater vehicle 1; Estimated disturbance is based on the underwater position X, velocity X, and acceleration X of the underwater vehicle 1 from the detection means 2 and the output Y from the subtraction means 5, which will be described later.

It is used to calculate.

The subtraction means 5 calculates the estimated disturbance from the disturbance estimating circuit 4 from the operation amount M from the control means 3.

The amount is subtracted and the output Y is added to the propulsion device 1b of the underwater vehicle 1.

Reference numeral 6 denotes an instrument that displays the underwater state quantities, that is, the underwater position, velocity, and acceleration of the underwater vehicle 1.

To simplify the explanation, it is assumed that the efficiency of the propulsion device 1b is 1, that is, the output Y from the subtraction means 5 is converted into the thrust force T by the propulsion device 1b, and that disturbances exist only in the vertical direction. .

Specifically, the disturbance estimating circuit 4 performs the following calculation operations.

That is, the fluid resistance R of the underwater vehicle 1 is
Since the speed of is proportional to the square of X, let that value be Cx2,
If the mass of the underwater vehicle 1 is m, the forces F acting on the underwater vehicle 1 are three: output T of the propulsion device 1, external disturbance, and fluid resistance R.

Therefore, as the equation of motion of the underwater vehicle 1, m x = D + T-Cx ・・-
m However, C: A constant holds true.

When formula (1) is rearranged with respect to disturbance, it becomes D=m'x-T+Cx-(2), and the calculation of formula (2) is performed by the disturbance estimating circuit 4.

The specific configuration of this disturbance estimating circuit 4 will be explained with reference to FIG.

In the figure, 7 is the input signal, which is the speed X of the underwater vehicle 1.
8 to 10 are amplifiers each having a gain set to C2m +-1, and 11 is an adder that adds the three input signals Cx2ym'x and -T.

Next, the operation of the embodiment of the present invention described above will be explained.

The forces F acting on the underwater vehicle 1 are three forces: the thrust force T by the propulsion device 1b, the disturbance due to the tidal current, and the fluid resistance R of the underwater vehicle 1.

Disturbances caused by tidal currents are a major burden on the operator when controlling the operation of the underwater vehicle 1.

During such operation of the underwater vehicle 1, the disturbance estimation circuit 4 detects the underwater vehicle 1 detected by the underwater state quantity detection means 2.
Estimated external force from the position X1 speed X1 acceleration X and the output Y to the propulsion device 1b or the thrust force T of the propulsion device.

Calculate.

The subtraction means 5 calculates the operation amount M from the control means 3 and the estimated disturbance from the disturbance estimating circuit 4.

A subtraction operation is performed on and an output Y shown by the following equation (3) is output.

Y(=T)=M Do”(3
) Also, the force F acting on the underwater vehicle 1 is F=T+
D+R...(4) Therefore, by substituting equation (3) into equation (4), the force F acting on the underwater vehicle 1 is generally expressed as F=M+D Do+R...(5) become.

Here, the disturbance estimating circuit 4 estimates disturbance.

D two. Since the calculation is performed so that the force F acting on the underwater vehicle 1 is as follows, F=M+R (6).

In other words, the force F acting on the underwater vehicle 1 is only the operation amount M from the control means 3 and the fluid resistance R of the underwater vehicle 1, and the underwater vehicle 1 is not affected by external disturbances. become.

Therefore, the operator can remotely control the underwater vehicle 1 without considering the influence of disturbances acting on the underwater vehicle 1.

In the above example, the underwater state quantity detection means 2 is capable of detecting the position, velocity, and acceleration of the underwater vehicle 1. Other elements may be determined by differentiating or integrating with respect to the equation.

Furthermore, although it has been assumed that disturbance exists only in the vertical direction, if a disturbance acts from any direction, the disturbance can be considered as a vector and decomposed into three orthogonal axes.

Further, the efficiency of the propulsion device 1b is assumed to be 1 to simplify the explanation, but if the efficiency is other than this, the estimated operation amount M1 from the control means 3 will be disturbed accordingly.

All you have to do is decide. As described in detail above, the present invention is configured so that the underwater vehicle can be operated as if disturbances such as tidal currents are not acting on the underwater vehicle. This makes it easier to operate the vehicle, and its maneuverability can be significantly improved.

Further, in the present invention, as the underwater state quantity detection means used to estimate the disturbance acting on the underwater vehicle, a detector generally used for remote control such as a depth meter or an ultrasonic wave can be used, and the disturbance Since an inexpensive and commercially available computer such as a microcomputer can be used as the estimation circuit, the entire device does not become expensive.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an example of the configuration of a navigation control device for an underwater vehicle according to the present invention, and FIG. 2 is a circuit configuration diagram of an example of a disturbance estimating circuit used in the device according to the present invention. 1... Underwater vehicle, 1a, lb... Propeller of underwater vehicle, 2... Underwater state quantity detection means, 3... Control means, 4...Disturbance estimation circuit, 5...Subtraction means.

Claims (1)

[Claims] 1. In a device that controls the navigation of an underwater vehicle equipped with a propulsion device, a control means that applies a manipulated variable to the underwater vehicle, and an underwater state quantity that is provided in the underwater vehicle and detects the underwater speed and acceleration of the underwater vehicle. a detection means, a disturbance estimating circuit that estimates a disturbance acting on the underwater vehicle based on the difference value between the underwater speed and acceleration of the underwater vehicle, the operation amount of the control means, and the estimated disturbance amount from the underwater state quantity detection means; Subtraction means for subtracting the estimated amount of disturbance from the disturbance estimating circuit and the amount of operation from the control means, and outputting this subtracted value to the propulsion device as a signal that compensates for the influence of the disturbance acting on the underwater vehicle. A navigation control device for an underwater vehicle, comprising: