AUTOMATIC CONTROL METHOD OF ROV

• Main Authors: OI TADASHI, MURAYAMA SHIGEKI, KIDOORI HIDEKI, TAKAHASHI YOSHIAKI
• Format: Patent
• Language: English
• Published: 07.01.1997
• 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; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

PURPOSE: To realize the stable control by correctly controlling an ROV(Remotely Operated Vehicle) by the control system to use PID and the neural network in parallel even in the disturbance, learning the disturbance, and surely generating a model to cancel the disturbance. CONSTITUTION: A PID controller 21 receives the deviation signal (s) between the output (y) of an ROV 20 added to an adder 25 and the target value (o), and the first control input UPID is outputted to an adder 26. A neuro-prediction model 22 receives the final control input Uo of the first control input UPID of the PID controller 21 added to the second control input Unn of a neuro- controller 23 by the adder 26, and inputs the output (y) of the ROV 20 to learn the response in the disturbance of the ROV 200 to the first control input PID. An FFT analyzer 30 receives the output (y) of the ROV 20, and the major frequency components are extracted through the fast Fourier transformation, and outputted to an oscillator 24 to prepare a disturbance model.