UNDERWATER VESSEL AND ATTITUDE CONTROL METHOD OF UNDERWATER VESSEL

• Main Authors: OKAMOTO TAKAFUMI, KAGAYA HIROAKI, OKADA TAKASHI, OKAYA NORIYUKI
• Format: Patent
• Language: English; Japanese
• Published: 05.04.2018
• Subjects: AIRCRAFT CARRIERS; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; MINE-LAYING; MINE-SWEEPING; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; SUBMARINES; TRANSPORTING

PROBLEM TO BE SOLVED: To propose an underwater vessel capable of while suppressing power consumption, retaining a boat hull in a target position.SOLUTION: An underwater vessel includes: a positioning device 9 for detecting position information of a boat hull; an attitude detection sensor for detecting attitude information of the boat hull; an actuator 3 for changing a position and attitude of the boat hull by imparting thrust to respective directions of back and forth, lateral and vertical to the boat hull; and a controller 50 for controlling the actuator. The controller, in order to retain the boat hull in the target position based on the detected position information, controls the actuator seeking controlling force respectively in the back and forth direction, the lateral direction and the vertical direction and turning controlling force for turning the boat hull in respective directions of roll, yaw and pitch; updates targetted attitude information so that the magnitude of the controlling force in the lateral direction and the vertical direction are made zero when external force is imparted to the boat hull retained in the target position; and changes the boat hull to the attitude according to the attitude information after the update based on the detected attitude information.SELECTED DRAWING: Figure 5 【課題】消費電力量を抑制しつつ、艇体を目標位置に保持させることができる水中航走体を提案する。【解決手段】艇体の位置情報を検知する測位装置９と、艇体の姿勢情報を検知する姿勢検知センサと、艇体に対して前後、左右及び上下方向各々に推力を与え、艇体の位置および姿勢を変更させるアクチュエータ３と、アクチュエータを制御する制御装置５０とを備え、制御装置は、検知された位置情報に基づき艇体を目標位置に保持させるように、艇体における前後方向、左右方向、上下方向各々の制御力、および艇体をロール、ヨー、ピッチ方向それぞれに旋回させる旋回制御力を求めてアクチュエータを制御しており、目標位置に保持されている艇体に外力が及ぼされた時、左右方向および上下方向の制御力の大きさがゼロとなる様に、目標とする姿勢情報を更新し、検知された姿勢情報に基づき艇体を更新後の姿勢情報に応じた姿勢に変更させる。【選択図】図５