JPS62276400A - Steering gear for air delivery type underwater sailing body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a steering device 1 for an underwater 9"LA that is dropped from the air.

[Traditional) branch surgery]

In general, when an underwater cruiser -C is running normally,
In order to control the depth and attitude (pitch angle, roll angle), a steering device as shown in FIG. 2 is provided.

That is, a pressure transducer 1 detects the depth of the underwater vehicle by receiving depth pressure of open water, and an attitude sensor 2 detects the pitch angle, pitch angle rate, roll angle, and roll angle rate of the underwater vehicle. and the detection signals (d
+1) tllvryr), a control signal ((!++ez*ez'
) is provided with a controller 3'.

This controller 3' includes a depth controller 4. 11 pitch angle controllers5. The depth controller 4 receives the depth detection signal d from the pressure transducer 1 and calculates the steering amount for depth control.
The pitch angle controller 5 receives the pitch angle detection signal p and the pitch angle rate detection signal 11 from the attitude sensor 2 to calculate a steering amount for pitch angle control, and the roll angle controller 6 receives the pitch angle detection signal p from the attitude sensor 2 and calculates the steering amount for pitch angle control. A steering amount for roll angle control is calculated in response to the roll angle detection signal r and the roll angle rate detection signal 1.

Then, the steering amount W, the device 7' is the depth controller 4. In order to perform depth control, pitch angle control, and roll angle control in a well-balanced manner based on the respective steering amount signals SdvSp and Sr from the pitch angle controller 5 and the roll angle 'ttIJm controller 6, Add weight to the amount and send it to the upper rudder actuator 8a, lower rudder actuator 8b, and left and right rudder actuator 8c'! Each of the seven actuators 8a controls the steering control amount.

The steering control amount (J elf (4 and C) is output to 8b and V8c'.

Note that the upper rudder 9a and the lower rudder 9b are each driven separately by the seven actuators 8 at 8 b, and the port rudder 9c and starboard rudder 9d are driven simultaneously and by the same amount by the actuator 8c'.

With the above configuration, during normal navigation of the underwater vehicle, the pressure transducer 1 and the attitude sensor 2 always detect the depth and attitude of the underwater vehicle, and the detection signal (d+ptl
J+r+2), the optimum steering control amount is calculated in the controller 3', and from this controller 3'
Steering control amount signals c+te2 and c3' are sent to steering evaporators 8 at 8 b and 8c', respectively.

Therefore, the actuators 13 at 8 b and 8 c' operate (1) based on the respective steering control amount signals (!

Drive starboard 9d. Along with this, the roll angle of the underwater vehicle is controlled by the lift generated at the upper rudder 9a and the lower rudder 91), and the depth control and pitch of the underwater vehicle are controlled by the lift generated at the port side 9c and starboard side 9d. Such a steering device has conventionally been applied to underwater vehicles that are dropped from the air, and has been used for normal navigation as described above, from the time of landing on water from the air. Steering control is performed in exactly the same way as before.

[Problem that the invention seeks to solve]

However, with the conventional steering device for an underwater vehicle as described above, when the device is applied to an underwater vehicle dropped from the air, even when the underwater vehicle is landing on water at an extremely high speed, Steering control similar to when sailing, that is, upper rudder 9a
, the lower rudder 9b performs roll angle control, and the port and starboard rudders 9c and starboard 9d, which are driven in unison, perform depth control and pitch angle control. Therefore, it is not possible to follow the transient response characteristics when diving into water, and underwater navigation is difficult. After landing on the water, the running body dives deep under the water surface.

In other words, the functions of the upper rudder 9a + lower rudder 9b, port side 9c, and starboard rudder 9d are separated, so for example, when an underwater vehicle lands on the water, the port side 9c and starboard rudder 9d are moved vertically. Placement V
If you take a posture like that (roll angle displacement is 90°),
First, after controlling the attitude of the underwater vehicle using the upper rudder Sal and lower rudder 9b so that the roll angle displacement approaches Oo, the lift force at the port side 9e + starboard rudder 9d controls depth and pitch angle ↑. It acts like water on underwater vehicles.

Therefore, roll angle control is performed at the initial stage of landing on the water.
c. Even though depth control and pitch angle control using the starboard side 9d are possible, the underwater vehicle dives deeply below the water surface.

The present invention attempts to solve these problems, and does not perform roll angle control at the initial stage of water landing, but instead takes the roll angle and roll angle rate into consideration when adjusting the upper rudder, lower rudder, port, and upper rudder. An object of the present invention is to provide a steering device for an air-dropped underwater vehicle, which makes it possible to perform depth control and pitch angle control using a rudder, thereby minimizing the depth of penetration after landing on water. shall be.

[Means for solving problems]

For this reason, the air-dropped underwater vehicle steering device of the present invention provides a pressure converter capable of detecting the depth of the underwater vehicle in response to the depth pressure of open water in the underwater vehicle dropped from the air. an attitude sensor capable of detecting the pitch angle, pitch angle rate, roll angle, and roll angle rate of the underwater vehicle; and a depth detection signal from the pressure transducer. a pitch angle controller that receives a pitch angle detection signal and a pitch angle rate detection signal from the attitude sensor to calculate a steering amount for pitch angle control; and a roll angle detection signal from the attitude sensor. and a roll angle controller that calculates a steering amount for roll angle control in response to a roll angle rate detection signal, and a roll angle controller that calculates a steering amount for roll angle control in response to a roll angle rate detection signal, and A steering control amount calculator is provided to calculate the steering control amount to be sent to each of the upper rudder, lower rudder, port side, and upper rudder actuators of the underwater vehicle, and the steering control amount calculator calculates the steering control amount to be sent to each actuator of the upper rudder, lower rudder, port side, and upper rudder. A bypass path for directly sending a roll angle detection signal and a roll angle rate detection signal to the steering control amount calculator is provided in parallel with the roll angle controller, and a switching means to the bypass path and a bypass path are provided in parallel with the roll angle controller. Based on each steering amount signal from the depth controller and pitch angle controller, taking into account the roll angle detection signal and roll angle rate detection signal via the road.
The second steering control is provided with a water landing initial steering control system that calculates the steering control amounts for the depth control and pitch angle control of the second rudder, down rudder, port side, and outer rudder as described above in the computing unit. [Function] The above-described steering device for an air-dropped underwater vehicle of the present invention is characterized by:
At the initial stage of splashdown, the roll angle detection signal and roll angle rate detection signal are directly transmitted from the bypass path to the steering wheel 1 by the switching means.
The roll angle detection signal and the roll angle detection signal are sent to the first control plate calculator, and in the water landing initial steering control system of this steering control amount calculator.

Based on each steering amount signal from the depth controller and pitch angle controller while taking into account the small signal, the amount of rudder loss i1rlJgE for depth control and pitch angle record 1 all is calculated, and the calculated steering amount is calculated. A control signal is output to each of the seven rudders of the upper rudder, lower rudder, port side, and upper rudder, and the lower rudder, lower rudder, port side, and i rudder are driven.

〔Example〕

Hereinafter, a steering system for an air-dropped underwater vehicle as an embodiment of the present invention will be explained with reference to the drawings. FIG. The pressure transducer 1 detects the depth of the underwater vehicle by receiving the depth pressure of the outside water, and the pitch angle of the underwater vehicle.

A posture sensor (strap-down type sensor) 2 that detects a pitch angle rate, a roll angle, and a roll angle rate is provided, and detection signals (dvpvm, r, r) from these pressure transducer 1 and posture sensor 2 are provided.
In response, the upper rudder actuator 8a.

Lower rudder actuator 8b, port actuator 80
and a controller 3 that sends control (number g (C2°C21Cs+C<)) to the upper rudder actuator 8d.

This controller 3 includes a depth controller 4. The pitch angle controller 50 is composed of a pitch angle controller 6 and a steering control amount calculator 7, and the depth controller 4 receives the depth detection signal d from the pressure converter 1 and operates the depth control steering 7 stages. The pitch angle controller 5 receives the pitch angle detection signal 1) and pitch angle rate detection signal V from the attitude sensor 2 and calculates the steering amount for pitch angle control. , receives the roll angle detection signal r and the roll angle detection signal t from the attitude sensor 2, and calculates the steering amount for roll angle control.

The steering control amount calculator 7 receives each steering amount signal 5 from the depth controller 4, the pitch angle controller 5, and the roll angle controller 6.
Based on cLSp and f7 S r, normal sailing IL'7
In order to perform depth control, pitch angle control, and roll angle control in a well-balanced manner, we added weight to the steering amount for each control, and set the upper rudder actuator 8al, the lower rudder actuator 8b, and the port actuator 8C. and calculates the steering amount inn to be sent to the upper rudder actuator 8d, and each actuator 8a.

Steering control amount, signal c1.81++8c and 8d. c2
．． It is designed to output "c" and "C1".

- No.j, in controller 3, the running object X1 in the water
In the early stage of water, a bypass path XO for directly sending the roll angle detection signal r and the roll angle detection signal from the attitude sensor 2 to the steering control amount calculator 7 is connected to the roll angle 11 control 2.
:'p6 and a switching means 11 to this bypass path 10 is provided.

This switching means 11 is configured with a delay timer, etc., which opens for a while until the underwater vehicle reaches a predetermined depth after the underwater vehicle lands on the water, and sends a detection signal r+r to the bypass path 10. be done.

In addition, the steering control amount calculator 7 is provided with an initial water landing steering control system (not shown).
! In the Il system, when the switching means 11 is in the state of switching to the bypass path 10 at the initial stage of water landing, the depth controller 4 Based on each steering amount signal 5cLSp from the pitch amount 8 unit 5, the other steering control amounts for depth control and pitch angle control are calculated, and these steering amount 8 amounts are used as the steering amount control signals c+ +c2tcz and C4. Rudder 9a Lower rudder 9b, port side 9C and upper rudder 9
d to each actuator 8a, 81z, 8c, and 8d.

In addition, the upper rudder 9a, the lower rudder 9b; the port side 9c and the upper rudder 9d are the underwater navigation A:.
At 8 bt 8 c and 8 d are independently driven, but during normal sailing, the port side 9 C and upper rudder 9 d are driven by 7 cut units 8 C and 8 d, respectively, as before.
d, so that they are driven simultaneously and only by the floor plan.

Since the substitute rudder device for an air-dropped underwater vehicle as an embodiment of the present invention is configured as described above, immediately after the ice-based vehicle is dropped from the air and lands on the water, that is, at the beginning of landing,
The switching means 11 switches the attitude sensor 2 from the bypass path 10.
The roll angle detection <U'''f rB and the roll angle rate detection signal r detected at are directly sent to the steering control hit calculator 7.

In the water landing initial steering control system (not shown) of the steering control amount calculator 7, the depth control 2; 4 and pitch angle controller 5 are Based on the respective steering amount signals Sd and Sp, steering control amounts for depth control and pitch angle control are calculated.

-M +-21-1-f 9 thunder n ya 11ri%6宕! I;1laTIWl+J-'i! Rudder control I quantity signal CI
, C2, C3 and C4 to the actuators 8a, 8b, 8c and 8d, respectively, and each of the seven actuators 8a, 8b, (ic and 8
d, upper rudder 9a, lower rudder 9b, port side 9C and upper rudder 9d
are independently driven, and the depth control and pitch angle control of the underwater vehicle are performed by the lift generated at each of the upper rudder 9av, lower rudder 9b, left rudder 9C, and upper rudder 9d.

Therefore, at the initial stage of water landing of an underwater vehicle, roll angle control is not performed, and no matter what the roll angle or roll angle rate is (/c tilt right, 1 inversion, 1 rotation, etc.), the upward The lower rudder 9b, port rudder 9C and upper rudder 9d can all be used for depth control and pitch angle control, while the upper rudder 9a, lower rudder 9b, port 9c and upper rudder 9 can all be used for depth control and pitch angle control.
Since J can be adjusted independently to the optimum steering amount, the depth of penetration of the underwater vehicle after landing on the water can be minimized.

Note that after the underwater vehicle has landed on water and reached a predetermined depth, the switching means 11 switches the roll angle detection signal r and the roll angle detection signal g from the bypass path 10 to the roll angle controller. 6 and operates exactly like the conventional device.

〔Effect of the invention〕

As described in detail above, according to the Ji rudder device for an air-dropped underwater vehicle of the present invention, when an underwater vehicle is dropped from the air, the depth pressure of the open water is applied to the underwater vehicle. a pressure transducer capable of detecting depth; and a pitch angle of the underwater vehicle;
an attitude sensor capable of detecting a pitch angle rate, a roll angle, and a roll angle rate; a depth controller that receives a depth detection signal from the pressure transducer to calculate a steering amount for depth control; a pitch angle controller that receives a pitch angle detection signal and a pitch angle rate detection signal to calculate a steering amount for pitch angle control; and a pitch angle controller that receives a roll angle detection signal and a roll angle rate detection signal from the attitude sensor and uses it for roll angle control. A roll angle controller that calculates the amount of steering, and the upper rudder, lower rudder, port side, and upper rudder of the underwater vehicle based on each steering amount signal from the depth controller, pitch angle controller, and roll angle controller. Equipped with a steering control amount calculator that calculates the rudder control amount to be sent to each actuator of the rudder,
A bypass path is provided in parallel with the roll angle controller for directly sending the roll angle detection signal and roll angle rate detection signal from the attitude sensor to the steering control amount generator at the initial stage of water landing of the underwater vehicle. In addition, a means for switching to the bypass path, and the above-mentioned roll angle detection signal and roll angle rate detection signal via the bypass path are provided, and each of the signals from the depth controller and pitch angle controller is Initial water landing steering control for calculating the steering control Il amount for depth control and pitch angle control of the upper rudder, lower rudder, port side, and upper rudder in the above-mentioned rudder control mechanism based on the steering amount signal. With a simple configuration in which an iIl system is provided, no matter what the roll angle or roll angle rate of the underwater vehicle is at the initial stage of water landing, the upper rudder, lower rudder, The port and upper rudders are all used for depth control and pitch angle control, and the upper rudder, lower rudder, port side, and upper rudder are each independently adjusted to the optimum amount of steering, so the underwater vehicle This means that the degree of infiltration after landing on water can be minimized.

[Brief explanation of the drawing]

The mi diagram is a block diagram showing a steering device for an air-dropped underwater vehicle as an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional steering device for an underwater vehicle. be. 1. Pressure transducer, 2. Attitude sensor, 3. Controller, 4. Depth controller, 5. Pitch angle control? ;,
6. Roll angle controller, 7. Steering control amount calculator, 8a
... Actuator for upper rudder, 81 pieces... Actuator for lower rudder, 8C... Actuator for port side, 8d... Actuator for upper rudder, 9a... Upper rudder, 9b... Lower rudder, 9C
...Port side, 9d...Ij rudder, 10...Bypass path, 11
...Switching means, (!++e2+C1+C+...Steering control amount signal, d...Depth detection signal, 1)...B7 angle detection signal, b...Pitch angle rate detection signal, r...Roll angle detection signal, Roll angle rate detection signal, S d T
S p+ S r... Birudden signal.

Claims (1)

[Claims] In an underwater vehicle dropped from the air, a pressure transducer capable of detecting the depth of the underwater vehicle by receiving depth pressure of open water, and a pitch angle, pitch angle rate, and roll angle of the underwater vehicle. and an attitude sensor capable of detecting a roll angle rate, a depth controller that receives a depth detection signal from the pressure converter and calculates a steering amount for depth control, and a pitch angle detection signal and pitch angle rate from the attitude sensor. a pitch angle controller that receives a detection signal and calculates a steering amount for pitch angle control; and a roll angle controller that receives a roll angle detection signal and a roll angle rate detection signal from the attitude sensor and calculates a steering amount for roll angle control. Steering control to be sent to the upper rudder, lower rudder, port side, and starboard actuators of the underwater vehicle based on each steering amount signal from the depth controller, pitch angle controller, and roll angle controller. a steering control amount calculator for calculating a quantity, and for directly sending a roll angle detection signal and a roll angle rate detection signal from the attitude sensor to the steering control amount calculator at the initial stage of water landing of the underwater vehicle. A bypass path is provided in parallel with the roll angle controller, and switching means to the bypass path;
The above-mentioned steering control amount calculator uses the above-mentioned steering amount calculation unit based on each steering amount signal from the above-mentioned depth controller and pitch angle controller, taking into account the above-mentioned roll angle detection signal and roll angle rate detection signal via the bypass path. Steering for an air-dropped underwater vehicle, characterized by being provided with an initial water landing steering control system that calculates steering control amounts for depth control and pitch angle control of the rudder, lower rudder, port and starboard sides. Device.