JPS62178900A - Horizontal attitude type induction method of underwater sailing body - Google Patents
Horizontal attitude type induction method of underwater sailing bodyInfo
- Publication number
- JPS62178900A JPS62178900A JP61021000A JP2100086A JPS62178900A JP S62178900 A JPS62178900 A JP S62178900A JP 61021000 A JP61021000 A JP 61021000A JP 2100086 A JP2100086 A JP 2100086A JP S62178900 A JPS62178900 A JP S62178900A
- Authority
- JP
- Japan
- Prior art keywords
- underwater vehicle
- target
- attitude
- rudder
- horizontal attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 22
- 230000006698 induction Effects 0.000 title 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/30—Hydrogen technology
- Y02E60/50—Fuel cells
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、水中航走体を目標物へ誘導する方法に関する
。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for guiding an underwater vehicle to a target.
従来上り、第５図に示すような水中航走体１がある。こ
の水中航走体１は、その前端部にホーミング用音響式送
受波器１１をそなえ、その後部に左右一対の横舵２をそ
なえている。Conventionally, there is an underwater vehicle 1 as shown in FIG. This underwater vehicle 1 has a homing acoustic transducer 11 at its front end, and a pair of left and right side rudders 2 at its rear.
そして、Ｐｔ５４図（ａ）、（ｂ）に示すごとく、この
ような水中航走体１を用いて、海上の目標物または他の
水中航走体のごとき目標物Ａを音響ホーミングによって
追尾、捕捉しようとする場合に、目標物Ａと水中航走体
１との間に深度差があれば、水中航走体１の後部付き横
舵２の迎角を制御して、水中航走体１の深度を変えなが
ら水中航走体１を目標物Ａ側へ誘導することが行なわれ
ている。Then, as shown in Pt54 diagrams (a) and (b), such an underwater vehicle 1 is used to track and capture a target A such as a target on the sea or another underwater vehicle by acoustic homing. If there is a depth difference between the target A and the underwater vehicle 1, the angle of attack of the rear rudder 2 of the underwater vehicle 1 is controlled to The underwater vehicle 1 is guided to the target A side while changing the depth.
なお、第４図（ａ）、（＋＋）中の符号ＢＰはビームパ
ターンを示す。Note that the symbol BP in FIG. 4(a) and (++) indicates a beam pattern.
しかしながら、このような従来の水中航走体の誘導方法
では、深度を変える際に、水中航走体１の姿勢が傾く、
すなわち水中航走体１のとるピッチ角がＰ（≠０）とな
るため、水中航走体１が第４図（ａ）に示すごとく上を
向いて浮上してゆく場合、ホーミング信号として、目標
物Ａからのちの１）のばか海面Ｗからの反射によるもの
ａが含まれ、更に水中航走体１が第４図（ｂ）に示すご
とく下を向いで沈降してゆく場合、ホーミング信号とし
て、目標物へからのものしのほか、海底Ｂからの反射に
よるものＣが含まれ、これによりいずれの場合も真の目
標追尾を行なうことができないという問題点がある。However, in such a conventional guidance method for an underwater vehicle, the attitude of the underwater vehicle 1 is tilted when changing the depth.
In other words, since the pitch angle taken by the underwater vehicle 1 is P (≠0), when the underwater vehicle 1 rises upward as shown in FIG. If the reflection from the object A in 1) from the sea surface W is included, and if the underwater vehicle 1 is descending downward as shown in Figure 4(b), it will be used as a homing signal. , from the target object, as well as from reflection from the seabed B, which causes the problem that true target tracking cannot be performed in either case.
本発明は、このような問題点を解決しようとするもので
、水中航走体の姿勢をほぼ水平に維持しながら水中航走
体を目標物へ誘導できるようにした、水中航走体の水平
姿勢型誘導方法を提供することを目的とする。The present invention is an attempt to solve such problems, and aims to improve the level of an underwater vehicle by making it possible to guide the underwater vehicle to a target while maintaining the attitude of the underwater vehicle almost horizontally. The purpose is to provide a posture-based guidance method.
このため、本発明の水中航走体の水平姿勢型誘導方法は
、前端部にホーミング用音響式送受波器をそなえた水中
航走体を、その深度を変えながら、目標物へ誘導するに
際し、上記水中航走体の前部および後部にそれぞれ設け
られた横舵を用いて、同水中航走体の姿勢をほぼ水平に
維持しながら同水中航走体を上記目標物へ誘導すること
を特徴としている。For this reason, the horizontal attitude type guidance method for an underwater vehicle of the present invention, when guiding an underwater vehicle equipped with a homing acoustic transducer at the front end to a target object while changing its depth, The underwater vehicle is guided to the target object while maintaining the attitude of the underwater vehicle substantially horizontally using side rudders provided at the front and rear parts of the underwater vehicle. It is said that
１−述の本発明の水中航走体の水平姿勢型誘導方法では
、水中航走体を、その深度を変えながら、目標物へ誘導
するに際しては、水中航走体の前部および後部にそれぞ
れ設けられた横舵の迎角を制御することが行なわれるが
、このとき各横舵の制御は、水中航走体の姿勢がほぼ水
平な状態を維持するように行なわれる。このようにして
、水中航走体は目標物へ誘導されてゆく。In the horizontal attitude type guidance method for an underwater vehicle according to the present invention described in 1-1, when guiding the underwater vehicle to a target while changing its depth, there are The angle of attack of the provided transverse rudder is controlled, and at this time, each transverse rudder is controlled so that the attitude of the underwater vehicle is maintained in a substantially horizontal state. In this way, the underwater vehicle is guided to the target object.
以下、図面により本発明の一実施例としての水中航走体
の水平姿勢型誘導方法について説明すると、ｔｊＳ１図
（ａ）、（ｂ）はいずれも本方法による誘導方法を説明
するための模式図、第２図は本方法に使用される水中航
走体を示す模式的側面図、第３図は本方法を実施するた
めの装置のブロック図であり、第１〜３図中、ｔＩＳ４
．５図と同じ符号はほぼ同様の部分を示している。Hereinafter, a horizontal attitude type guidance method for an underwater vehicle as an embodiment of the present invention will be explained with reference to the drawings. Both tjS1 figures (a) and (b) are schematic diagrams for explaining the guidance method according to the present method. , FIG. 2 is a schematic side view showing an underwater vehicle used in this method, and FIG. 3 is a block diagram of an apparatus for carrying out this method.
．． The same reference numerals as in FIG. 5 indicate almost the same parts.
まず、本方法に使用される水中航走体１は、第２図に示
すように、その前端部にホーミング用音響式送受波器１
１をそなえるとともに、水中航走体１の重心、浮心点の
前部および後部にそれぞれ一３＝
左右−則の横舵３，２をそなえている。First, as shown in FIG. 2, the underwater vehicle 1 used in this method has a homing acoustic transducer 1 installed at its front end.
1, and side rudders 3 and 2 with a left and right rule are provided at the front and rear of the center of gravity and center of buoyancy of the underwater vehicle 1, respectively.
そして、これらの横舵２，３（横舵２は後部付きのもの
、横舵３は前部付きのもの）はそれぞれアクチュエータ
によって駆動されるようになっている。なお、各アクチ
ュエータはサーボ弁等によってその作動（回転作動ある
いは伸縮作動）が制御されるようになっている。すなわ
ち横舵３．ｉＪｉ舵３駆動用アクチュエータ、サーボ弁
等で前方操舵機構９（第３図参照）が構成され、横舵２
．横舵２駆動用アクチュエータ、サーボ弁等で後方操舵
機構１０が構成される（第３図参照）。These side rudders 2 and 3 (the side rudder 2 has a rear part, and the side rudder 3 has a front part) are each driven by an actuator. Note that the operation (rotation operation or telescopic operation) of each actuator is controlled by a servo valve or the like. That is, side rudder 3. A forward steering mechanism 9 (see Fig. 3) is composed of an actuator for driving the iJi rudder 3, a servo valve, etc.
．． A rear steering mechanism 10 is comprised of an actuator for driving the side rudder 2, a servo valve, etc. (see FIG. 3).
また、第３図に示すごとく、水中航走体１には、ピッチ
検出器４と深度信号発生器５とが設けられており、ピッ
チ検出器４や深度信号発生器５からの信号は横舵制御装
置１２へ入力され、この横舵制御装置１２で調整されて
前方操舵機構９．後方操舵機構１０へ制御信号として出
力されるようになっている。この横舵制御装置１２はピ
ッチ検出器４と深度信号発生器５とからの各信号を受け
る増幅器６およびピッチ検出器４からの反転信号「イー
４＝
ンバータ（反転器）８からの出力］と深度信号発生器５
からの信号とを受ける増幅器７をそなえて構成されてお
り、増幅器６からの出力は前方操舵機構９へ供給され、
増幅器７からの出力は後方操舵機構１０へ供給されるよ
うになっている。Further, as shown in FIG. 3, the underwater vehicle 1 is provided with a pitch detector 4 and a depth signal generator 5, and signals from the pitch detector 4 and the depth signal generator 5 are transmitted to the side rudder. It is input to the control device 12 and adjusted by the side rudder control device 12 to control the forward steering mechanism 9. It is designed to be output as a control signal to the rear steering mechanism 10. This side rudder control device 12 includes an amplifier 6 that receives signals from a pitch detector 4 and a depth signal generator 5, and an inverted signal from the pitch detector 4 "E4=output from inverter (inverter) 8". Depth signal generator 5
The output from the amplifier 6 is supplied to the forward steering mechanism 9.
The output from the amplifier 7 is supplied to a rear steering mechanism 10.
次に、本方法を用いて水中航走体１をその深度を変えな
がら目標物Ａへ誘導しでゆく場合につき説明する。まず
第１図（、）に示すごとく、水中航走体１が深度を小さ
くしながら、すなわち水中航走体１が浮上しながら、目
標物Ａを追尾、捕捉する場合は、横舵２，３をそれぞれ
第２図に符号２Ｕ。Next, a case will be described in which the underwater vehicle 1 is guided to the target object A while changing its depth using this method. First, as shown in FIG. 2U in Fig. 2, respectively.
３Ｕで示すようにする。これにより水中航走体１がその
姿勢をほぼ水平に維持しながら、すなわちピッチ角をＯ
ｏに保ちながら、目標物Ａを追尾。Make it as shown by 3U. As a result, the underwater vehicle 1 maintains its attitude almost horizontally, that is, the pitch angle is reduced to 0.
Track target A while keeping the position o.
捕捉する。この追尾時にピッチ角が０° と異なる値を
とると、増幅器６，７からの出力が変化し、これにより
横舵２，３の迎角も上記変化分に応じて増減されるので
、水中航走体１は再びその姿勢を水平に戻され、結局、
上記のように水中航走体１はその姿勢をほぼ水平に維持
しながら目標物Ａを追尾、捕捉するのである。Capture. If the pitch angle takes a value different from 0° during this tracking, the outputs from the amplifiers 6 and 7 will change, and the angle of attack of the side rudders 2 and 3 will also increase or decrease according to the above change, so underwater navigation is possible. Running object 1 was brought back to its horizontal position again, and in the end,
As described above, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude almost horizontally.
また、第１図（１〕）に示すごとく、水中航走体１が深
度を大きくしながら、すなわち水中航走体１が沈降しな
がら、目標物Ａを追尾、捕捉する場合は、横舵２，３を
それぞれｊｐ２図に符号２Ｄ、３Ｄで示すようにする。In addition, as shown in FIG. 1 (1), when the underwater vehicle 1 tracks and captures the target A while increasing the depth, that is, while the underwater vehicle 1 descends, the side rudder 2 , 3 are shown as 2D and 3D in the jp2 diagram, respectively.
これによりこの場合も水中航走体１がその姿勢をほぼ水
平に維持しながら、すなわちピッチ角を０°に保ちなが
ら、目標物Ａを追尾、捕捉する。この追尾時の場合もピ
ッチ角がＯ。As a result, in this case as well, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude substantially horizontally, that is, while maintaining the pitch angle at 0°. The pitch angle is also O during this tracking.
と異なる値をとると、増幅器６．７からの出力が変化し
、これにより横舵２，３の迎角も上記変化分に応じて増
減されるので、水中航走体１は再びその姿勢を水平に戻
され、結局、このように水中航走体１の沈降追尾時も水
中航走体１はその姿勢をほぼ水平に維持しながら目標物
Ａを追尾、捕捉するのである。If a different value is taken, the output from the amplifier 6.7 changes, and the angle of attack of the side rudders 2 and 3 is also increased or decreased in accordance with the above change, so the underwater vehicle 1 changes its attitude again. The underwater vehicle 1 is returned to the horizontal position, and as a result, even when the underwater vehicle 1 is sinking and tracking, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude almost horizontally.
このように、水中航走体１が浮上しながら目標物Ａを追
尾、捕捉する場合も、水中航走体１が沈降しながら目標
物Ａを追尾、捕捉する場合も、共に水中航走体１はその
姿勢をほぼ水平に維持しているので、海面Ｗからの反射
ノイズや海底Ｂからの反射ノイズによる影響を減少する
ことができ、これにより目標物からの反射信号を正確に
検出することができ、その結果水中航走体１を目標物Ａ
へ正確に誘導することができる。In this way, both when the underwater vehicle 1 tracks and captures the target A while floating, and when the underwater vehicle 1 tracks and captures the target A while descending, the underwater vehicle 1 Since it maintains its attitude almost horizontally, it is possible to reduce the influence of reflected noise from the sea surface W and the reflected noise from the seabed B, which makes it possible to accurately detect the reflected signal from the target object. As a result, underwater vehicle 1 becomes target object A.
can be guided accurately.
以上詳述したように、本発明の水中航走体の水平姿勢型
誘導方法によれば、前端部にホーミング用音響式送受波
器をそなえた水中航走体を、その深度を変えながら、目
標物へ誘導するに際し、上記水中航走体の前部および後
部にそれぞれ設けられた横舵を用いて、同水中航走体の
姿勢をほぼ水平に維持しながら同水中航走体を上記目標
物へ誘導することが行なわれるので、上記水中航走体の
上記目標物への誘導を正確に行なえる利点がある。As described in detail above, according to the horizontal attitude type guidance method for an underwater vehicle of the present invention, an underwater vehicle equipped with an acoustic transducer for homing at the front end can be guided toward a target while changing its depth. When guiding the underwater vehicle toward an object, the horizontal rudder provided at the front and rear of the underwater vehicle is used to guide the underwater vehicle toward the target while maintaining the underwater vehicle's attitude almost horizontally. Therefore, there is an advantage that the underwater vehicle can be accurately guided to the target object.
第１〜３図は本発明の一実施例としての水中航走体の水
平姿勢型誘導方法を示すもので、第１図（ａ）、（１）
）はいずれも本方法による誘導方法を説明するための模
式図、第２図は本方法に使用される水中航走体を示す模
式的側面図、第３図は本方法を実施するための装置のブ
ロック図であり、第４゜５図は従来の水中航走体の誘導
方法を示すもので、第４図（ａ）、 （ｂ）はいずれも
従来の誘導方法を説明するための模式図、第５図は従来
方法に使用される水中航走体を示す模式的側面図である
。
１・・水中航走体、２，３・・横舵、４・・ピッチ検出
器、５・・深度信号発生器、６，７・・増幅器、８・・
インバータ、９・・前方操舵機構、１０・・後方操舵機
構、１１・・ホーミング用音響式送受波器、１２・・横
舵制御装置、Ａ・・目標％、Ｂ・・海底、ＢＰ・・ビー
ムパターン、Ｗ・・海面。Figures 1 to 3 show a horizontal attitude type guidance method for an underwater vehicle as an embodiment of the present invention, and Figures 1 (a) and (1)
) are schematic diagrams for explaining the guidance method according to this method, Fig. 2 is a schematic side view showing an underwater vehicle used in this method, and Fig. 3 is a device for carrying out this method. Fig. 4-5 shows a conventional guidance method for an underwater vehicle, and Fig. 4(a) and (b) are both schematic diagrams for explaining the conventional guidance method. , FIG. 5 is a schematic side view showing an underwater vehicle used in the conventional method. 1...Underwater vehicle, 2,3...Horizontal rudder, 4...Pitch detector, 5...Depth signal generator, 6,7...Amplifier, 8...
Inverter, 9... Forward steering mechanism, 10... Rear steering mechanism, 11... Acoustic transducer for homing, 12... Lateral rudder control device, A... Target %, B... Seabed, BP... Beam. Pattern, W...Sea surface.
Claims (1)
走体を、その深度を変えながら、目標物へ誘導するに際
し、上記水中航走体の前部および後部にそれぞれ設けら
れた横舵を用いて、同水中航走体の姿勢をほぼ水平に維
持しながら同水中航走体を上記目標物へ誘導することを
特徴とする、水中航走体の水平姿勢型誘導方法。When guiding an underwater vehicle equipped with a homing acoustic transducer at its front end to a target while changing its depth, horizontal rudders installed at the front and rear of the underwater vehicle are used. A horizontal attitude guidance method for an underwater vehicle, characterized in that the underwater vehicle is guided to the target object while maintaining the attitude of the underwater vehicle substantially horizontally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61021000A JPS62178900A (en) | 1986-01-31 | 1986-01-31 | Horizontal attitude type induction method of underwater sailing body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61021000A JPS62178900A (en) | 1986-01-31 | 1986-01-31 | Horizontal attitude type induction method of underwater sailing body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62178900A true JPS62178900A (en) | 1987-08-05 |
| JPH0545880B2 JPH0545880B2 (en) | 1993-07-12 |
Family
ID=12042833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61021000A Granted JPS62178900A (en) | 1986-01-31 | 1986-01-31 | Horizontal attitude type induction method of underwater sailing body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62178900A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022543428A (en) * | 2019-08-07 | 2022-10-12 | レイセオン カンパニー | Method and system for determining depth of object |
-
1986
- 1986-01-31 JP JP61021000A patent/JPS62178900A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022543428A (en) * | 2019-08-07 | 2022-10-12 | レイセオン カンパニー | Method and system for determining depth of object |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0545880B2 (en) | 1993-07-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |