JPS6368489A - Control device for submarine - Google Patents

Abstract

PURPOSE:To simplify the control of a submarine, by providing such an arrangement that a desired value may be set and changed from either of first and second steering units. CONSTITUTION:During sailing by a first steering unit 2, a course speed d2, a depth speed h2 and an attitude angular speed theta2 which are time-variations in the course, depth and attitude angle of a submarine or are obtained by differentiating them during that period, are delivered. An integrating and adding means 3 integrates these speeds, to obtain d2.t, h2.t, theta2.t which are then added to set values d1, h1, theta1 to obtain d3=d1+d2.t, h3=h1+h2.t, theta3=theta1+Q2.t that are then delivered to a second steering unit 4. The second steering unit 4 compares thus newly set desired values with values delivered from a course meter, a depth meter and an attitude angle meter at that time, and controls front and rear rudders 11, 12 in accordance with the differences therebetween and the speed of the submarine delivered from the speed meter. That is, it is possible to simply set and change the desired value from either of the first and second steering units 2, 4.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to a control system for a submersible ship. The ship is equipped with a means for setting the course, depth (or altitude), attitude angle, etc. of the ship, and an automatic steering system that steers according to these settings. Conventionally, the functions of these two steering systems were independent and had no relation to each other. Since two steering systems cannot be used simultaneously for one rudder system, switching between the two systems is performed as necessary. Further, manual steering machines do not have a function to set a target value. Therefore, in order to set or change a target while sailing with a manual steering machine, the steering system must be automatically switched to automatic mode, which makes operations complicated if set values have to be changed frequently.

Therefore, it would be advantageous if the target value could be set or changed when switching the steering gear because the operation would be simpler.

An object of the present invention is to provide a control device for a submarine that satisfies such demands.

(Means for Solving the Problems) As shown in FIG. 1, the submarine control device of the present invention sets a target course d, a target depth h1, and a target attitude angle θ, and transmits these signals. The means for outputting the output and the course speed d of the submarine when operating the rudder.

a first steering device that outputs signals of , depth velocity ha, and attitude angular velocity θ; and signals a and s from the first steering device that input signals from the first steering device and the setting means.
)l! means for integrating e θ2 over time and adding them to the signals ctt#ht#θ from the setting means to calculate new target values dmab3e θ, and outputting these signals; value daehs
It is characterized in that it consists of a second steering machine that steers according to s θslC.

(Example) FIG. 1 shows an example of the apparatus of the present invention. 1 is a setting means, 2 is a first steering device 3, an integrating/adding device 4, and a second steering device 10 is a submarine equipped with this steering device. The submarine 10 includes a front rudder 11, a rear rudder 12, and a longitudinal rudder 13. t
When a cruise is being carried out using the steering gear 2 of a JL, temporal changes in the course, depth, and attitude angle of the submersible at that time, that is, the course speed dt and depth speed h! , attitude angular velocity θ, are output. Integration/addition means 3
integrate each velocity and obtain d, ・t, h, ・t, θ, ・
t, and these are the settings input from the setting means 1 and the set value dt.
yhte't plus each ds = ds + dx・
t.

bs"ht +bt" ts θ, = 0110, ·t and output to the second steering gear 4. The second steering gear 4 compares the new target value set in this way with the current values input from the course indicator, depth indicator, and attitude angle indicator, and calculates the difference between them and the speed indicator of the submersible, which is input from the speedometer. Fore rudder 1 depending on speed
1. Operate the rear rudder 12 and longitudinal rudder 13.

(Effects of the Invention) As described above, since the submarine control system of the present invention allows target values to be set and changed from either the first or second steering gear, it is necessary to switch the steering gear for this purpose. It is now easier to operate.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the apparatus of the present invention. DESCRIPTION OF SYMBOLS 1... Setting means, 2... First steering machine, 3... Integrating/adding means, 4... Second steering machine, 10... Submersible ship.

Claims (1)

[Claims] Target course d_1, target depth h_1, and target attitude angle θ_1
means for setting and outputting these signals, and the course speed d_2 and depth speed h_2 of the submersible when operating the rudder.
and an attitude angular velocity θ_2; and a first steering machine that inputs signals from the first steering machine and the setting means and outputs signals d_2, h_2, θ_2 from the first steering machine.
2 is integrated over time to obtain the signals d_1, h from the setting means.
New target values d_3 and h_ are added to _1 and θ_1, respectively.
3. A control device for a submersible, comprising means for calculating θ_3 and outputting these signals, and a second steering machine inputting this signal and steering according to new target values d_3, h_3, and θ_3.