JP2947341B2 - Underwater vehicle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an underwater vehicle, and more particularly to a control device for automatically controlling the depth and course of an underwater vehicle.

[0002]

2. Description of the Related Art Conventionally, PID (Proportional Integral) has been used for automatic control of the depth and course of an underwater vehicle such as a submarine ship.
l and Differential).

[0003]

However, in the conventional PID control, although control taking into account the retentivity corresponding to a change in disturbance is performed, basically, a control coefficient (hereinafter referred to as a control gain and a control gain) is used. Are based on fixed values (for example, JP-A-61-207296). Therefore, it takes time and effort to reach the target value, and it has not been possible to obtain the control performance corresponding to the ever-changing operation demand. Therefore, an object of the present invention is to provide a control device for an underwater vehicle that can promptly respond to an ever-changing operation request.

[0004]

According to a first aspect of the present invention, there is provided a control device for controlling the depth and course of an underwater vehicle using PID control.
The control target values for the depth and course required by the pilot,
Input means for inputting a required time from the start of control to reaching the control target value, a required value of an allowable amount of overshoot from the control target value, and detecting a current state of the underwater vehicle. Detecting means, extracting means for obtaining an external force acting on the underwater vehicle based on a detection value of the detecting means, and extracting an element gain for PID control based on the obtained external force; Control model configuration means for configuring a control model for controlling the underwater vehicle by adding the element gain extracted by the extraction means to a reference value of another element gain, and a request value input from the input means and Simulation means for performing a simulation using a motion model simulating the motion characteristics of the underwater vehicle based on the control model configured by the control model configuration means; and Characterized in that a optimal control coefficient calculating means for determining an optimum control factor for the required value based on the value the simulation means is acquired.

According to the first aspect of the present invention, since the optimum control coefficient is obtained by using the detected value of the current state of the underwater vehicle, it is possible to promptly respond to an ever-changing operation request. .

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on an embodiment shown in the drawings. FIG. 1 is a configuration diagram of a control device for an underwater vehicle according to this embodiment, and FIG. 2 is a flowchart of a process in an optimum control gain calculation unit of the control device.

First, the configuration of the control device will be described. As shown in FIG. 1, the control device BC includes an optimum control gain calculation unit 1 for calculating an optimum control gain, and a steering angle command value calculation unit 2 for performing control using the control gain calculated by the calculation unit 1.
It consists of. The control device BC receives current depth H, depth speed HS, current course ψ, course angular velocity ψS, depth control steering actual steering angle βHR, and course control steering actual steering angle β from sensors (not shown).
ψR is input. The controller BC is connected to input means (not shown) operated by a steering operator, and the steering operator inputs required values relating to the control target values of the depth and the course from the input means.

Next, the operation of this embodiment will be described. Here, the case of depth control is mainly described, but course control may be performed in exactly the same procedure. As shown in FIG. 2, the steering operator sets the required value as follows:
A target depth, an arrival time required to reach the target depth from the start of control, and an overshoot amount (overshoot amount) with respect to the target depth are input (step S1, see FIG. 6). In this way, the control device BC can recognize the control performance currently required by the steering operator. At this time, the value of the overshoot amount is treated as an allowable limit value. Therefore, the present control device BC sets the overshoot amount 0
0 as much as possible within the value set from
A value close to is set as the target value.

In step S2, data of the current state of the own ship (depth, course, speed, steering angle, etc.) is input from the respective sensors, and based on these data, the external force currently acting on the own ship is estimated. (Step S2a)
A steering angle at which a fluid force equivalent to an external force is generated by the current speed is calculated, and the steering angle is used as an integral element (step S2).
b). By doing so, it is possible to obtain the steering amount required to cancel the offset value (deviation value) currently generated by the external force acting on the own hull.

In step S3, a proportional autonomous control model (control model) is constructed by combining the proportional element gain and the differential element gain given in advance as reference values with the integral element.

Next, in step S4, a simulator SM is constructed by combining the above-described control model, a dynamic characteristic model of the rudder, and an equation simulating the three-dimensional movement of the underwater vehicle (FIG. 3 shows a configuration diagram). . At this time, a model taking into account the external force estimated in step S2 is used for the three-dimensional equation of motion. Then, a simulation using the simulator SM is performed (step S4a), and the arrival time and the overshoot amount are obtained. The upper and lower limits of the gains of both the proportional element and the differential element for the simulation to be performed next are set based on the tendency of the obtained result.
That is, in step S3, the proportional element gain and the differential element gain have been given in advance, but the values of both gains to be given next are corrected based on the tendency of the result actually obtained.

The upper and lower limits of the two gains are set by the following method. <Proportional element gain> The proportional element gain mainly adjusts the arrival time. Therefore, when (result of simulation of arrival time)> (required value), upper and lower limit values are set with a weight on the lower limit side in order to reduce the arrival time (see reference numeral 41 in FIG. 4). Conversely, when (simulation result of arrival time) <(required value), the upper and lower limits are set with a weight on the upper limit side to increase the arrival time (see reference numeral 42 in FIG. 4).

<Regarding Differential Element Gain> The differential element gain mainly adjusts the amount of overshoot. Therefore,
If (the simulation result of the overshoot amount)> (1/2 of the allowable amount), the upper and lower limits are set by giving weight to the upper limit. Conversely, if (simulation result of overshoot amount) <(1/2 of allowable amount), the upper and lower limit values are set by giving weight to the lower limit value side. The upper and lower limits of the proportional element gain and the differential element gain are divided at regular intervals to create a two-dimensional matrix shown in FIG. 5 for the proportional element gain and the differential element gain (step S4).
b).

Next, in step S5, a simulation is performed for all the elements of the two-dimensional matrix shown in FIG. 5, and the required arrival time ± allowable value (allowable amount is a predetermined value inside the control device). ) And those that satisfy the allowable range of the overshoot amount are the integrated value of the overshoot amount at that time (the area of the hatched portion shown in FIG. 6).
Is stored (steps S5a to S5d). And
In step S6, the minimum gain among the results stored in step S5 is determined as the optimum value.

As described above, the optimum gain is obtained, and finally the depth and course of the underwater vehicle are controlled.

[0016]

As described above, according to the present invention, since a request of a steering operator is recognized, and examination and extraction are performed to satisfy the request, it is possible to promptly respond to an ever-changing operation request. It is possible to provide a control device for a simple underwater vehicle.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a control device according to an embodiment of the present invention.

FIG. 2 is a processing flowchart of an optimum control gain calculation unit in the control device.

FIG. 3 is a configuration diagram of a simulator in the flowchart.

FIG. 4 is a diagram showing setting of upper and lower limit values with respect to a reference gain in the flowchart.

FIG. 5 is a diagram showing a two-dimensional matrix based on a proportional element gain and a differential element gain in the same flowchart.

FIG. 6 is a diagram showing control waveforms in the flowchart.

[Explanation of symbols]

 BC controller SM simulator 1 Optimum control gain calculation unit 2 Steering angle command value calculation unit

Continuation of front page (56) References JP-A-63-273797 (JP, A) JP-A-62-4698 (JP, A) JP-A-7-165180 (JP, A) JP-A-7-125692 (JP, A) JP-A-56-2288 (JP, A) JP-A-61-110695 (JP, A) JP-A-62-113695 (JP, A) JP-A-62-126198 (JP, A) 60-146796 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B63H 25/00, 25/04 B63G 8/14, 8/18

Claims (3)

(57) [Claims] 1. A control device for controlling the depth and course of an underwater vehicle using PID control, wherein a control target value for the depth and course required by a driver,
Input means for inputting a required time from the start of control to reaching the control target value and an allowable value of an overshoot amount from the control target value; and detecting a current state of the underwater vehicle. Detecting means; obtaining an external force acting on the underwater vehicle based on a detection value of the detecting means; extracting means for extracting an element gain for PID control based on the obtained external force; Control model configuration means for configuring a control model for controlling the underwater vehicle by adding the element gain extracted by the extraction means to a reference value of another element gain, and a request value input from the input means and Simulation means for performing a simulation using a motion model simulating the motion characteristics of the underwater vehicle based on the control model configured by the control model configuration means An underwater vehicle control device, comprising: an optimal control coefficient calculating means for obtaining an optimal control coefficient for the required value based on the value obtained by the simulation means. 2. The reference value of the element gain prepared in advance is a proportional element gain and a differential element gain, and the element gain extracted by the extracting means is an integral element gain. A means for configuring a control model for controlling the underwater vehicle by adding the extracted integral element gain to the prepared proportional element gain and differential element gain, wherein the simulation means comprises the arrival time and the amount of overshoot. The underwater vehicle control device according to claim 1, further comprising: a unit that obtains the following. 3. The simulation means determines upper and lower limits of a proportional element gain and a differential element gain to be searched next from the obtained arrival time and the tendency of the amount of overshoot, and divides the upper and lower limits at regular intervals. Means for creating a two-dimensional matrix for the two gains, the optimal control coefficient calculating means for each element of the two-dimensional matrix created by the means for creating the two-dimensional matrix,
A simulation is performed using a motion model simulating the motion characteristics of the underwater vehicle, based on the request value input from the input means and the control model configured by the control model configuration means, to achieve arrival time and overshoot. 3. The underwater vehicle control device according to claim 2, further comprising means for acquiring a gain value, and extracting a gain value whose arrival time and overshoot amount satisfy an allowable range for the required value.