JPS61279741A - Speed controller for underwater sailing body - Google Patents

Abstract

PURPOSE:To make improvements in controlling capacity, by coping with variations of a responsive characteristic in a rotational driving system of a propeller, while regulating characteristics of a model norm adaptive controller, making a revolving speed a controlled variable, on the basis of a valve opening regulating signal, a revolving speed detecting signal and a revolving speed setting value signal. CONSTITUTION:In case of an underwater sailing body sailing with a propeller rotated by an engine unit 7, a propeller speed detecting signal y(t) and a speed setting value signal r(t) both are inputted into a controller 4 controlling the speed. The controller 4 is constituted as a model norm adaptive controller which makes the detecting signal y(t) a controlled variable as receiving the setting value signal r(t) as a norm input, having a norm model and an adaptive gain Ki(t) (i=1, 2, ..., m+n+1) built-in, and it catches a variation in a responsive characteristic of propeller speed, whereby regulates the said adaptive gain according to the specified adaptive rule. And, from this controller 4, an opening regulating signal u(t) is outputted to a fuel control valve of the engine.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for controlling the speed of an underwater vehicle, and in particular can deal with variations in response characteristics in the rotational drive system of a propeller driven by an engine of an underwater vehicle. The present invention relates to a speed control device for an underwater vehicle.

[Conventional technology]
1-A speed control device for an underwater vehicle is constructed as shown in FIG. ．． ．． *ya, -o engineering 2
-O6゜713, )P°＜''；#＞＠＠Several times Rotation speed ″″F3+. more detected
1, and this detection signal y(t) is input to the controller 4.

Then, this controller 4 receives a rotation speed setting value signal r(
t) is also input, and the controller 4 outputs a valve gap adjustment signal u(t) to the fuel control valve 5 of the engine 1, so that the rotation speed of the propeller 2 is set to the rotation speed.
The fuel is supplied from the fuel tank 6 to the engine 1 so that the rotation speed is set by the constant value signal r(t).
The amount is controlled by adjusting the opening degree of the fuel control valve 5, and the rotation speed of the propeller 2, that is, the speed of the underwater vehicle.
,,control 5
ff Conventionally, a PID controller 4a has been used as the controller 4, and the system configuration of the control system is shown in FIG. 4 (block diagram).
．． The detection signal y(t) of the rotation speed of the propeller 2 output from the engine device 7 of the underwater vehicle consisting of the fuel control valve 5 and the Va fuel tank 6 is used as the control amount, and the PID controller 4a in the controller 4 controls the valve. Feedback control is performed by outputting the opening adjustment signal u(L) as a control input to the ennon device 7 of the underwater vehicle.

Note that t in the signals r(t)yu(t)*y(t) indicates time, and these signals r(t)yu(t)*y(t
) is a variable that changes over time.

[Problem that the invention seeks to solve]

By the way, in an underwater vehicle, the response characteristic of the rotation speed of the propeller 2 as a controlled object fluctuates very slightly depending on the traveling conditions such as its speed and depth.

However, in a conventional speed control device for an underwater vehicle, a PID controller 4a is used as the controller 4, and the PID controller 4a is designed to exhibit good control performance only under certain specified navigation conditions. The characteristics of the PID controller 4a are set in .

Therefore, due to changes in sailing conditions, etc., as mentioned above,
If the response characteristic of the rotational speed of the propeller 2 fluctuates, not only will the desired control performance not be obtained, but the control performance may even become worse than when the PID controller 4a is not provided.

The present invention aims to solve these problems, and makes it possible to maintain desired good control performance by dealing with fluctuations in the response characteristics of the rotational drive system of an underwater vehicle. ,
The purpose of the present invention is to provide a speed control device for an underwater vehicle.

[Means for solving problems]

Therefore, the speed control device for an underwater race vehicle of the present invention is capable of controlling the speed of an underwater vehicle equipped with a rotary drive system for a propeller using an encun. The controller is provided with a controller that receives the numerical setting value signal and sends a valve darkness adjustment signal to the fuel control valve of the engine, and the controller controls the rotational speed of the rotational drive system while receiving the rotational speed setting value signal as a standard input. The present invention is characterized in that it is configured as a model-norm adaptive controller that uses the control amount as a control amount, and outputs the valve opening degree adjustment signal as the operation amount of the engine.

[For production]

In the above-mentioned speed control device for an underwater vehicle according to the present invention, the model standard adaptive controller deals with fluctuations in the response characteristics of the rotational drive system of the propeller caused by the engine, and detects the valve opening adjustment signal and the rotation speed sensor. Based on the signal and the rotational speed setpoint signal, the characteristics of the controller are adaptively adjusted.

〔Example〕

Below, a speed control device for an underwater vehicle as an embodiment of the present invention will be explained with reference to the drawings. FIG. 1(a) is a block diagram showing its system configuration, and FIG. 1(b) is its adaptive mechanism. Figure 2 is a block diagram for explaining the
) is a block diagram showing the system configuration in detail.
Figure (b) shows its adaptation 8! FIG. 2 is a block diagram showing the structure in detail.

In the speed control device for an underwater vehicle as an embodiment of the present invention, the overall configuration is almost the same as that of the conventional one, and an engine 1 (see FIG. 3) drives a propeller 2 as a rotational drive system. (Figure 3 number
In an underwater vehicle that travels by rotationally driving the
1q*=p*engineering. Engineering□Yu1
□Oh, Eka1o, A. ,cormorant
[The rotation speed of 2 is detected by the rotation speed sensor 3 (see Fig. 3), and the detection signal y (l is input to the
1 force is applied. 1' And this controller 4 has a rotation speed setting value.
1 signal r(L) is also input, and the controller 4 outputs an opening adjustment signal u(t) for the engine ``1'' fuel control pipe 5 (see Figure 3) ``valve -'': propeller 2. The rotation speed is set by the rotation speed set value signal r(t).
): Control the amount of fuel supplied from the fuel tank 6 (see Figure 3) to the ennon 1 so that the fuel control valve...

The rotation of propeller 2 is controlled by adjusting the opening degree of 5.
1゛number 91. *Medium navigation vehicle. Speed control 4. (''; By the way, the controller 4 in the present invention receives the rotation speed setting value signal r(t) as a reference input and uses the rotation speed of the propeller 2 [detection signal y(t) of the rotation speed sensor 3] as a control amount. The controller 4 is configured as a model standard adaptive controller, and a valve opening adjustment signal u(t) is outputted from the controller 4 as a manipulated variable for the engine 1.

That is, as shown in FIGS. 1(a) and 2(a), the reference model and the adaptive gain kc(t) (i=1
+ 2 +...4+n+1) The rotational speed of the propeller 2 driven by the engine 1 of the underwater vehicle is controlled by the controller 4 having a built-in engine. At this time, as shown in FIG. 1(b) and FIG. 2(b), the adaptive mechanism captures the change in the response characteristic of the rotation speed of the propeller 2 in the ennon device 7 of the underwater vehicle as the controlled object. , the adaptive din kc(1(i=1.
2. ..., ■+n+1) is adjusted to llI.

The model-based adaptive control system as described above is designed based on the theory described below.

First, it is assumed that the following dynamic equation is given as a mathematical model of the rotational drive system of the propeller 2 in the engine device 7 of the underwater vehicle to be controlled.

A(p)・y(t)=b=B(p)・u(t)...
・(1) A(p)=p”10an-1e pH-1+ ・
= + al e p + a6B(p)-p″+b,
-3・p1 Paulownia+...+b, -p+b.

y(t) is an output, that is, a detection signal of the rotation speed of the propeller 2 as a controlled variable, u(L) is a control input, that is, a fuel control valve opening adjustment signal as a manipulated variable of the engine 1,
a4 (i=O* 1, +++fi+ 1), b+
(J=0+1t...,w1), b is an unknown parameter, and p is a differential operator.

Next, a stable reference model having desirable dynamic characteristics of the rotational drive system is given as shown in the following equation.

Am(p) ・ym(t)= Bm(p) ・r(t)
・ ・ ・ (2) Am(p)=p"+f
fn-+ -p''-'+-+ CI + ・pHQ
.

Bm(p)=p"+βto,・p(-1+...+β1
・p+β.

yJt) is the standard output, that is, the target value of the controlled variable, r(t
) is the reference input, i.e. the rotation speed set value signal, and 'z
(!=Oy1w...tn-1)tβ+l=Ov 1
+...tql) is a parameter that determines the dynamic characteristics of the reference model, and it is assumed that the following conditions are satisfied.

(i) In equation (1), the sign (positive or negative) of b is known.

(ii) In the system of equation (1), all zero points exist on the left half of the S plane.

(iii) +a≧q (iv) Differential value of output y(t)? (tLM(It・tf
'-''(t) is available.

Assuming the above, the action of the controller 4 and the adaptive gain kl(t) (i=1
, 21-, +a+n+ 1 ) adjustment period will be explained.

(1)? Since A (p) and An (p) in equation (2) are n-th degree polynomials, Am (p) = A (p) + 5 (p) ・
・ ・S (p) * a S (p) that satisfies (3)
≦n-1 exists. Here, B S (p) is S
Since the coefficient of A(p) representing the order of (p) is unknown, the coefficient of S(p) is also unknown, while the output error is given by the following equation.

e(L)=y(t)-yIl(1*+・(4)Here, from equations (1) to (4), A・(2)・・(t)=A・(1)・( y(t)-y
s(t)l f]・ =Am(p)・y(t) Am(p)・yJt)

'= A (p)・y(t)+S (p
)・y(t)−A m(p)・y,(t)
j=b-B(p)・u(L)+5(t)・y(t
)
'-Bso (p)・'(t)
...(5) [Therefore,
I.

1 (・e(t)”
□b・IB(p)・u(t)
IAu(p)
IJ・l:′ Here, stable and monic polycyclic 〇 (p), a H(
By appropriately giving p)=m, the right-hand side of equation (6) is transformed as follows.
, 2: In addition, we introduce a monomorphic polynomial D(p) [where aD(p)''nm −11, so that H(p) ・D(p)/A theory (p) becomes strongly true. Define D(p) as . Then, by setting , equation (7) is transformed as m: as in the following equation.

Here, the auxiliary signal ζ, (sh) is generated using the state variable filter 1/H(p).

Furthermore, we obtain the following relationship. S + (p) + as + (p
)=so-1 is a polynomial with one unknown parameter. *, γ, (i=0.1..., ρ) are also unknown parameters.

Equation (9) can be expressed as follows using equations (10) and (11).

ζ(1) = [ζ1(1), ..., ζman or +(t)
]” 1φ=[ψ5.
ψ2. ..., φ, φ, +1. ..., ψ21ψ2m+
+t..., ψll+. , ψm+n+I]”where, φ
1. ..., φ is an unknown parameter of (B (p) - H (p)), ψ11411..., ψ2゜ is (1/b)
・Unknown parameter of S+(p), ψ21ya,...
φ, +. are (1/b)-γI, -, <1/b, respectively
)-γn-5-+, ψ@+ll is (-1/b).

The controller 4 generates control human power u(t) according to the following equation.

u(t)”kT(t) ・E(t) ・・・(
13) However, k(t) is an adaptive vector)7, and k
”(t)=[k+ (tLk2(t)+...lkl+
+. ++(1)].

Then, by substituting equation (13) into equation (12), the parameter error vector 19(t) becomes e(t)=k
(t)+16 ---(15), then (1
4) The formula is as follows.

Now, in order to set e, 1(t) - 〇 when l - + 00, it is derived from the stability cylinder that the parameter error vector θ(1) needs to be adjusted in the next adjustment period. 6e(t)=-r-ζ(t)・ej(t)...(1
7): Here, r is an arbitrary positive definite matrix set by the designer, and by substituting equation (15) into equation (17), an adaptive gain adjustment agent as shown in the following equation can be obtained.

ff1(t)=-r-ζ(t)・e4(t)...(1
8) [・1;: Therefore, the above adaptation agent is applied to the controller 4.
By moving 1°, t-*Oo″c
e, 1(t)-*0. Sono, +.

L (8) t°I″l””b e(tゝ-°°76°
;Koni<nJ:31
:Lf・*IJ 1141 y (t) l”・′″
y＞[@1"t"1ji1"7
．． jJI111!1. ”“(t)l knee! tZ, 3+
16n? A+iru.

・I.

, A. In the speed control Ivc device of the underwater vehicle of the present invention, the above
・Co as a model-norm adaptive controller as i 1′;
The adaptive gain kt(t) (i=
1. ,)1.2. ...
, m+n+1) are adaptively adjusted,
The controller 4 generates an appropriate control force u(t). As a result, the opening degree of the fuel control valve 5 is controlled by the control human power u(t), and the rotational speed of the propeller 2 by the engine 1 of the underwater vehicle remains as expected even when its response characteristics vary greatly. This makes it possible to follow the rotational speed setting value signal r(t) as a reference input while maintaining control performance.

〔Effect of the invention〕

As described in detail above, according to the speed control device for an underwater vehicle of the present invention, in order to control the speed of an underwater vehicle equipped with a rotational drive system for a propeller driven by an engine, the speed of the rotational drive system is The controller includes a controller that receives a detection signal from the sensor and a rotational speed setting value signal and sends a valve opening adjustment signal to the fuel control valve of the engine, and the controller:
The controller is configured as a model standard adaptive controller that receives the rotational speed set value signal as a standard input and uses the rotational speed of the rotary drive system as a control variable, and adjusts the valve opening degree from the controller as a manipulated variable of the engine. Since the signal is output,
By dealing with the fluctuations in the response characteristics of the rotary drive system, the desired good control performance can be maintained.

[Brief explanation of drawings]

@ Figure 1.2 shows a speed control device for an underwater race vehicle as an embodiment of the present invention, Figure 1 (,) is a block diagram showing the system configuration, and Figure 1 (b) is its system configuration. FIG. 2(a) is a block diagram for explaining the adaptation mechanism; FIG. 2(a) is a block diagram showing the system configuration in detail; FIG. 2(b) is a block diagram showing the adaptation mechanism in detail; FIG. 3 is a block diagram showing a typical speed control device for an underwater vehicle, and FIG. 4 is a block diagram showing the system configuration of a conventional speed control device for an underwater vehicle. . 1. Engine, 2. Propeller as a rotational drive system,
3. Rotation speed sensor, 4. Controller as model standard adaptive controller, 5. Fuel control valve, 6. Fuel tank, 7. Engine device for underwater vehicle. Sub-Agent Patent Attorney Yoshihiko Iinuma Figure 2 (b) Figure 3 □ □

Claims (1)

[Claims] In order to control the speed of an underwater vehicle equipped with a rotation drive system for a propeller driven by an engine, a detection signal from a rotation speed sensor of the rotation drive system and a rotation speed setting value signal are sent to the fuel control valve of the engine. The controller is equipped with a controller that sends a valve opening adjustment signal, and the controller is configured as a model standard adaptive controller that receives the rotation speed set value signal as a standard input and uses the rotation speed of the rotary drive system as a controlled variable. characterized in that the valve opening adjustment signal is outputted from the controller as a manipulated variable of the engine;
Speed control device for underwater vehicles.