JPS6343896A - Automatic control device for weight trim of underwater boat - Google Patents

Abstract

PURPOSE:To enable weight and trim to be automatically adjusted, by calculating the weight and the trim in accordance with an output of each sensor, which detects a rudder angle, speed, depth, pitch angle and a fluid amount of each tank, and controlling water to be injected into and discharged from each tank on the basis of the calculated result. CONSTITUTION:A sumarine provides a rudder angle sensor 1, speed sensor 2 (for water), depth sensor 3, pitch angle sensor 4, front and rear parts each trim fluid amount sensors 5, 6 and an auxiliary trim fluid amount sensor 7. On the basis of detection data from these sensors and the kinetic characteristic from a kinetic characteristic memory 8, weight and trim of the submarine is calculated in a calculating circuit 9 through the optimum estimation by a Kalman filter, and the here obtained weight and trim and preset weight and trim from a weight and trim setter 10 calculate an inject and discharge transfer amount of water of each tank by a calculating circuit 11. And in accordance with the calculated result, front and rear part each trim tank valve 13, 14, auxiliary tank valve 15, injection and discharge water valve 16, etc. are controlled by a tank fluid amount control means 12.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic weight/limb control system for a submersible that fully automatically controls the weight/limb of a submersible whose motion characteristics are known.

[Conventional technology]

In order for a submersible to operate underwater safely, the adjustment of weight and trim depends on the intuition of experienced people and is handled n.

[Problem that the invention seeks to solve]

Conventionally, the weight and trim of a submersible have been adjusted depending on the intuition of an experienced person, which has the drawback of requiring extremely complicated operations. An object of the present invention is to provide an automatic weight/limb control system for a submersible that completely eliminates these problems. A rudder angle signal obtained by a rudder angle sensor in a submersible, a water speed signal obtained by a speed sensor, a depth signal obtained by a depth sensor, and a pitch angle obtained by a pitch angle sensor. Each tank liquid level signal obtained by processing the signal, the front trim tank liquid level sensor, the rear trim tank liquid level sensor, and the auxiliary tank liquid level sensor is processed using a Kalman filter based on known motion characteristics. A weight and weight calculation means that calculates the weight and weight of a submersible through optimal estimation, and a set weight ZO process using the weight and weight and weight and weight and weight setting devices obtained from the weight and weight and weight calculation means. The setting module Mo includes a water filling water transfer amount calculating means for calculating the total amount of water flowing into each tank, and a tank liquid amount control means for controlling the water filling water transfer for each tank.

〔Example〕

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

FIG. 1 is a block diagram showing one embodiment of the present invention. The embodiment shown in FIG. 1 includes a steering angle sensor 1, a speed sensor 2, a depth sensor 3, a pitch angle sensor 4°, a front trim tank liquid level sensor 5. Rear trim tank liquid level sensor 6, auxiliary tank liquid level sensor 7, motion characteristic memory 8, weight/trim calculation circuit 9, weight/trim setting device 10, water injection/water transfer amount calculation circuit 11, tank liquid level control circuit 12, Front trim tank valve 13, rear trim tank valve 14, auxiliary tank valve 15, fill/drain valve 16. It is composed of all 17 handmade pumps. The steering angle sensor 1 receives a latent steering angle signal Bef and a side steering angle signal βea.
It is supplied to the total weight/trium calculation circuit 9.

Figure 2 is a submersible rudder layout diagram showing the arrangement of the rudder of a submersible.The submersible rudder and side rudder shown by dotted lines are an example of the operation.
show. The speed sensor 2 detects the speed of the submarine relative to the water.
This is supplied to the weight calculation circuit 9. Depth sensor 3
and pitch angle sensor 4 respectively acquire depth data h.
and pitch angle data θ and are supplied to the total weight and trim calculation circuit 9. The front trim tank liquid level sensor 5, the rear trim tank liquid level sensor 6, and the auxiliary tank liquid level sensor 7 each receive tank liquid level data Q, l pQs pQs k weight/trim calculation circuit 9 and tank liquid level. It is supplied to the control circuit 11. The third model is a submersible tank layout diagram that shows the entire arrangement of each tank on the submersible.The submersible must adjust the F weight and trim when performing liquid injection and drainage between these tanks, and water transfer. conduct. The motion characteristic memory 8 stores known motion characteristics of the submersible in advance, which are read out and supplied to the weight and weight calculation circuit 9. The motion characteristics stored in the motion characteristic memory 8 are contents related to the constituent items of the equation of motion of the submersible, and these are predetermined based on the design conditions and contents of the submersible. The weight/trim calculation circuit 9 receives motion characteristic data of the submersible from the motion characteristic memory 8. , Also, based on all the observation data from each sensor, the motion state of the submersible is estimated using a full Kalman filter.
In filtering using the Kalman filter, it is used in a state that contains so-called noise associations such as state equations with all parameters of state variables such as weight, trim, depth, depth velocity, pitch angle, pitch angular velocity, etc. due to the motion state of the submersible, and observation errors in all detection errors. The fc observation equation is expressed as fc, which is detected over a certain period of time, and -7 is optimally estimated based on the observed data. This Kalman filter is used to calculate the F weight, tsurim, and total optimal estimation. The estimated weight d, '; The filling water capacity calculation circuit 11 calculates the total amount of water flowing between the valley tanks from the estimated values Z and M of the weight and rim, the weight of the weight and rim setting device 10, and the set value Zo*Mo of the rim. It is calculated and supplied to the tank liquid amount control circuit 12.

The tank liquid amount control circuit 12 controls the entire amount of water to be poured and transferred to each tank, the tank valves and pumps of each tank, and regulates the amount of water to be poured and drained between tanks.

[Effects of the Invention] As explained above, the present invention calculates the weight, trim 6, etc. by fully utilizing the steering angle, speed, depth, pitch angle, as well as the liquid nvI of each tank and the detection data of each sensor that detects it. Each tank? By having a means to fully control the weight and trim, you can control the weight and trim at any time without relying on one person's intuition. It would be beneficial to realize an automatic weight/limb control system for a submersible that can be automatically adjusted.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an automatic weight/limb control system for a submarine according to an embodiment of the present invention, FIG. 2 is a layout diagram of a rudder of a submarine, and FIG. 3 is a diagram of a layout of tanks of a submarine. 1... Rudder angle sensor, 2... Speed sensor %3... Depth sensor, 4...-- Pitch angle sensor, 5... Front Trim tank liquid level sensor,
6... Rear trim tank fluid level sensor, 7...
... Auxiliary tank liquid level sensor, 8 ... Movement characteristic memory, 9 ... Weight trim calculation circuit, 10 ...
....Weight/trimming setting device, 11..... Pour water/water transfer amount calculation circuit, 12...... Tank liquid amount control circuit. 13...Front trim tank valve, 14...
- Rear trim tank valve, 15... Auxiliary tank valve, 16°, °°... Filling and draining valve, 17... Pump. Agent Patent Attorney Uchihara i,・do,=7−

Claims (1)

[Claims] A rudder angle signal obtained by a rudder angle sensor in a submersible with known motion characteristics, a water speed signal obtained by a speed sensor, a depth signal obtained by a depth sensor, a pitch angle signal obtained by a pitch angle sensor, and a front trim tank. Kalman (Kalman) is calculated based on each tank liquid level signal obtained by the liquid level sensor, rear trim tank liquid level sensor, and auxiliary tank liquid level sensor and the motion characteristics known in advance.
man) A weight/trim calculation means for calculating the weight/trim of the submersible through optimal estimation using a filter, and a set weight Zo from the weight/trim setting device with the weight ■ and trim ■ obtained by the weight/trim calculation means. A submersible vessel characterized by comprising: a water filling water transfer amount calculation means for calculating the water filling water transfer amount of each tank based on the set trim Mo; and a tank liquid amount control means that controls the water filling water transfer of each tank. Automatic weight/trimming control device.