AUTOMATIC CONTROL METHOD FOR ROV

• Main Authors: OI TADASHI, KIDOORI HIDEKI, TAKAHASHI YOSHIAKI
• Format: Patent
• Language: English
• Published: 25.07.1995
• Edition: 6
• Subjects: AIRCRAFT CARRIERS; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; MINE-LAYING; MINE-SWEEPING; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PERFORMING OPERATIONS; PHYSICS; REGULATING; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; SUBMARINES; TRANSPORTING

PURPOSE:To predict a periodical disturbance and properly control ROV on the basis of the prediction by generating an error signal on the basis of an error between the state of ROV and a target value for adjusting the control parameter of a neuro controller. CONSTITUTION:The diving state of a rope-operated unmanned diving vehicle (ROV) 20 such as a depth is detected with sensor and, then, the first manipulated variable UPID is determined with a PID controller 21 on the basis of the error of an output value from the sensor. Thereafter, the first manipulated variable UPID is used to operate ROV 20 and the motion characteristics thereof in a disturbance due to the operation is learned via a neuro prediction model 22, thereby modelling the characteristics. Then, an error signal is calculated with the model 22 on the basis of a deviation between the speed and acceleration of ROV and the target values. Furthermore, the control parameter of a neuro controller 23 is adjusted on the basis of the error signal, thereby determining the second manipulated variable Unn. Also, the first and second manipulated variables UPID and Unn are summed up for use as the final manipulated variable of ROV. As a result, ROV can be properly controlled even in a disturbance.