JPS61285194A - Automatic depth controllr for submarine vessel - Google Patents

Abstract

PURPOSE:To enable depth change at high speed by performing depth control with a pitch angle given to a submarine vessel and effectively utilizing thrust of the submarine vessel when changing the depth. CONSTITUTION:A depth sensor 4 detects depth of a submarine 9 and generates a depth signal h. From deviation DELTAh of depth signal h against target depth ho and speed signal v from a magnetic log 6, a dive rudder control means 1 controls dive rudder angle. A target pitch angle computing means 3 computes a target pitch angle thetao from both ho and DELTAh. A pitch angle sensor 5 detects pitch angle of the submarine and generates a pitch angle signal theta. Based on deviation DELTAtheta of theta against thetao and speed signal v from the magnetic log 6, a lateral rudder control means 2 controls lateral rudder angle. By controlling the depth with the pitch angle given to the submarine in this manner, thrust is effectively utilized when changing the depth, enabling depth change at high speeds.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a maneuver control device for a submersible, and more particularly to an automatic depth control device.

[Conventional technology]

Conventionally, automatic depth control for submersibles has always controlled the pitch angle to be zero regardless of the size of the depth conversion port, and the submersible rudder and side rudder have been controlled independently. : [Problem to be solved by the invention] In the conventional depth control device described above, the pitch is always
□Dive to zero angle, and dive deep to control side rudder.
□゛[When performing the conversion, the propulsive force of the submersible can be fully utilized.
I・[! First, it has the disadvantage of not being able to perform high-speed depth conversion.
11: [Means for solving problems]
:,・The automatic depth control device for a submersible according to the present invention is suitable for a submersible. ,,□Nio,. 7 years old. □.

, 2 pitch angle sensors that detect the i-angle, means for controlling the submersible rudder and side rudder angles based on the deviation between the depth signal from the depth sensor and the target depth, and the deviation between the depth signal from the depth sensor and the target depth. and means for controlling the submerged rudder and side rudder angles based on the deviation between the pitch angle signal from the pitch angle sensor and the target pitch angle.

〔Example〕

Next, the present invention will be explained with reference to the drawings.

FIG. 1 is a block diagram showing a first embodiment of the present invention, in which submerged rudder control means 1, side rudder control means 2. Target pitch angle calculation means 3. Depth sensor 4. It is composed of a pitch angle sensor 5 and an electromagnetic log 61C.

The depth sensor 4 detects the depth of the submersible 9 and sends a depth signal h.
i occurs. The submersible rudder control means 1 controls the submersible rudder angle based on the deviation Δh=ho−h between the target depth ho and the depth signal and the speed signal vVc from the electromagnetic log 6.

The target pitch angle calculating means 3 calculates the target pitch angle θof based on the deviation Δh between the target depth hQ and the depth signal. A pitch angle sensor 5i1t detects the pitch angle of the submersible and generates a pitch angle signal θ. The side rudder control means 2 controls the side rudder angle based on the deviation Δ0-θ0-θ between the target pitch angle θ0 and the pitch angle signal θ and the speed signal V from the electromagnetic log 6.

In this way, depth control can be performed by setting a pitch angle to the submersible.

The second embodiment differs from the first embodiment in that the submerged rudder control means I is provided with an accumulation rudder control means Ila, and the transverse rudder control 10th stage 2 is provided with a submerged rudder control means 28.
This is an example used in

The depth sensor 4 detects the depth of the submersible and generates a depth signal. The accumulation rudder control means Tla outputs a submerged rudder control signal Hef' and a transverse rudder control signal Bea' based on the deviation Δh=ho−h between the target depth hO and the depth signal and the speed signal vV from the electromagnetic log 6. The target pitch angle calculating means 3 calculates the target pitch angle θ0 based on the deviation Δh between the target depth ho and the depth signal ri.

The pitch angle sensor 5 detects the pitch angle of the submersible and generates a pitch angle signal θ. The accumulation rudder control means 2a generates a submergence rudder control signal H based on the deviation Δθ=00−0 between the target pitch angle θO and the pitch angle signal θ and the speed signal V from the electromagnetic log 6.
ef', and outputs the side rudder control signal lea'. The submerged rudder is controlled by the submerged rudder control signal Hef = Bef' + Hef'tl based on the submerged rudder control signal Bef' from the storage and accumulation rudder control means 1M and the submerged rudder control signal Bef' from the accumulation and accumulation rudder control means 2a. Side rudder control signal Be from storage rudder control means 1M
a' and the horizontal rudder control signal Bea from the storage rudder control means 2a.
Side rudder control signal lea = Bea'+1dea'' from '
to control the side rudder. In this way, it is possible to control the depth by setting the pitch angle of the submersible.

〔Effect of the invention〕

As explained above, the present invention provides effects such as the ability to effectively utilize the propulsive force of the submersible when changing depth by setting the pitch angle to the submersible and controlling the depth, thereby enabling high-speed depth conversion. There is.

[Brief explanation of drawings]

1 and 2 are block diagrams illustrating some embodiments of the present invention. l... submerged rudder control means, 2... transverse rudder control means, la... submersible, transverse rudder control means T, 2a...
... Submersible, side rudder control means, 3 ... Target pitch angle calculation means, 4 ... Depth sensor, 5 ...
・Pitch angle C/S, 6...Gun・Electromagnetic log, 7...
・Submarine rudder, 8... side rudder, 9... submersible ship.

Claims (1)

[Claims] It has a depth sensor and a pitch angle sensor that detect the depth and pitch angle of the submersible, and controls the steering angle based on the deviation between the depth signal from the depth sensor and the target depth, thereby bringing the actual depth of the submersible to the target depth. In an automatic steering device that maintains or converts, a target pitch angle is calculated based on the deviation between the depth signal from the depth sensor and the target depth, and a target pitch angle is calculated based on the deviation between the pitch angle signal from the pitch angle sensor and the calculated target pitch angle. An automatic depth control device for a submersible, characterized by having means for controlling a rudder angle.