JPS61111415A - Device for calculating trim and floating variable of submarine boat - Google Patents

Abstract

PURPOSE:To make adjustment efficient by calculating and displaying the trim and floating variable of a submarine boat while using data of a steering angle, a speed, depth, and a pitch angle which are detected by sensors. CONSTITUTION:A kinematic equation factor calculating circuit 3 receives kinetic characteristic data and submarine/lateral steering angle signals Bef, Bea from a kinetic characteristic memory 4, a steering sensor 1 and a speed sensor 2 respectively to calculate the factors of an equation of motion and supplies the calculated result to a trim/floating variable calculating circuit 5. The circuit 5 calculates the trim and floating variable on the basis of optimum estimation by using said inputs and applying filtering based upon a karman's filter fora linear control system shown by the kinematic equation. The trim and floating variable calculated by the circuit 5 are supplied to a display circuit 8, so that the trim and floating variable affecting upon the submarine boat can be detected quantitatively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a submersible vessel trip and buoyancy calculation device that can calculate at any time the trip and buoyancy of a submersible whose motion characteristics are known.

[Conventional technology]

In order for a submersible that navigates underwater to operate safely, it is desirable to be able to accurately grasp its rim and buoyancy at all times and make the necessary adjustments.Traditionally, this adjustment of tsurim and buoyancy has been carried out only by experienced people. Processing is dependent on intuition.

[Problem that the invention seeks to solve]

Traditionally, the solemn and buoyancy of a submersible have been adjusted by relying on the intuition of experienced people, and for this reason, it is basically impossible to understand them numerically and use them with a large degree of freedom. There are drawbacks.

An object of the present invention is to provide a diving vessel buoyancy calculation device that eliminates such problems.

[Means for solving problems]

The device of the present invention, in a submersible whose motion characteristics are known, calculates coefficients of the equation of motion of the submersible based on a rudder angle signal obtained by a rudder angle sensor, a water speed signal obtained by a speed sensor, and previously known motion characteristics. Kalman (Ka
(lman) trim and buoyancy calculation means for calculating the trim and buoyancy of the submersible through optimal estimation using a filter.

〔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 buoyancy calculation device according to the present invention.

The configuration of the embodiment shown in FIG. 1 is as follows: a steering angle sensor 1, a speed sensor 2, a motion equation coefficient calculation circuit 3,
Semen Shichiri 4, Trim/buoyancy calculation circuit 5, 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 a pitch motion to the submersible, and supplies them to the equation of motion coefficient calculation circuit 3. .

As is well known, submarines are equipped with three types of rudders.
The things that change the pitch angle of the ship are two horizontal rudders placed near the stern and symmetrical to the bow and stern axis, and two horizontal rudders placed near the bow of the submersible boat and symmetrical to the bow and stern axis. There is a submerged rudder, and in addition to this, there is a longitudinal rudder at the stern as a direction rudder.

FIG. 2 is a submersible rudder arrangement diagram showing the arrangement of rudders in a submersible. The submersible rudder and side rudder shown by dotted lines each show an example of operation.

The speed sensor 2 measures the speed of the submersible with respect to the surrounding seawater,
A so-called water velocity V is detected and supplied to the motion equation coefficient calculation 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. ■, submerged rudder angle signal Bef and side rudder angle signal Bea,
It is configured as a differential equation in which the coefficients are determined by determining the speed relative to the water and the side angle signal among these unknowns, with the rim, buoyancy, etc. as unknowns.

The equation of motion coefficient calculation circuit 3 receives the motion characteristic data from the motion characteristic memory 4 and the dive and lateral steering angle signals Bef and Be from the steering angle sensor 1 and speed sensor 1, respectively, and calculates the coefficients of the equation of motion. This is then supplied to the trim/buoyancy calculation circuit 5.

The depth data h and pitch angle data θ obtained from the depth sensor 6 and the pitch angle sensor 7 are
It is supplied to the floating amount calculation circuit 5.

Using these inputs, the trim/float calculation circuit 5 applies filtering by a Kalman filter to the linear control system represented by the equation of motion, and calculates the trim and float by optimal estimation.

In filtering using this Kalman filter, the motion state of the submersible is expressed by a state equation whose parameters are state quantities such as the depth, buoyancy, depth, depth velocity, pitch angle, and pitch angular velocity, and the observation of depth data h and pitch angle data θ. The state is optimally estimated based on the observation data detected over a certain period of time by using data that contains so-called noise such as detection errors, and is expressed using an observation equation. Trim and float are calculated by optimally estimating the state of the motion system.

The trim and buoyancy calculated by the trim and buoyancy calculation circuit 5 are supplied to the display circuit 8 and displayed in a predetermined display format, so that the trim and buoyancy acting on the submersible can be quantitatively known. can.

In the embodiment shown in FIG. 1, the equation of motion coefficient calculation circuit 3
, the motion characteristic memory, and the sole/floating amount calculation circuit 5 are each configured independently, but they may be implemented as an arbitrary combination of configurations.

〔Effect of the invention〕

As explained above, according to the present invention, by providing a means for calculating and displaying the trim and buoyancy of a submersible using the detection data of the rudder angle, speed, depth, and pitch angle sensors, human The present invention has the effect of realizing 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 the drawing]

FIG. 1 is a block diagram showing an embodiment of the configuration of a submersible boat trim/buoyancy calculation device of the present invention, and FIG. 2 is a layout diagram of a submersible boat rudder. 1... Rudder angle sensor, 2... Speed sensor, 3... Motion equation coefficient calculation circuit, 4...
...Kinematic characteristics memo 1 HA W 5...Trim/buoyancy calculation circuit, 6...Depth sensor, 7.
...Pitch angle sensor, 8...Display circuit. Agent Patent Attorney Susumu Uchihara A: ・1, No f! of

Claims (1)

[Claims] Equation of motion coefficient calculation for a submersible whose motion characteristics are known, which calculates the coefficients of the equation of motion of the submersible based on the rudder angle signal obtained by the rudder angle sensor, the water speed signal obtained by the speed sensor, and the previously known motion characteristics. and a depth signal obtained by a depth sensor, a pitch angle signal obtained by a pitch angle sensor, and the coefficients of the equation of motion obtained by the equation of motion coefficient calculating means. A diving/buoyancy calculation device for a submersible, comprising: a diving/buoyancy calculation means for calculating the diving/buoyancy of a submersible.