JPH0541393Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a towing vehicle drive control device applied to a model ship.

[Conventional technology]

In the conventional test water tank, as shown in the block diagram of FIG. The speed set by the setting potentiometer 12 is held as an electric signal by the set speed holding circuit 13 and inputted to the speed control circuit 14, and the speed control circuit 14 sends a control signal to the motor drive circuit 15 to control the motor 4. Drive.

On the other hand, the actual speed of the towing vehicle 2 is determined by a pulse generator 8 linked to a speed detection touch roller 7.
It is detected as a pulse number proportional to the actual speed and sent to the counting circuit 9, and the actual speed signal formed by the counting circuit 9 is fed back to the speed control circuit 14, where it is compared with the set speed,
A control signal corrected to a predetermined set speed is output to the motor drive circuit 15, so that the towing vehicle 2 maintains a constant speed.

By the way, in the self-propulsion test where the ship speed decreases in waves, the propeller rotation speed obtained as a result of the flat water self-propulsion test is set in the self-propulsion motor 16, and the self-propulsion motor 1
The model ship 6 rotates the propeller 17 connected to the model ship 6.
generates a constant thrust corresponding to the fluid force acting on the

However, in waves, the model ship undergoes hull movements such as up-and-down rocking, side-to-side rocking, and pitching, and the fluid force acting on the model ship also increases, and the model ship that was sailing at a constant speed in calm water gradually changes. The speed of the model ship 6 decreases to a level where the fluid force acting on the model ship in waves and the thrust generated by the propeller are balanced. Since the speed of the tow truck cannot be measured directly, the speed of the tow truck is measured while keeping the relative position of the tow truck constant and used as the speed of the model ship.

Therefore, in order to accurately measure the speed of a model ship, it all depends on how much the change in the relative displacement of the model ship can be minimized. Generally, sensors for measuring fluid force acting on the model ship, wave load, propeller thrust, fluid force acting on the rudder 18, etc. are attached to the model ship, and measuring instruments are placed on the towing vehicle. The model ship and the tow truck are connected by a lead wire, and the relative position of the tow truck and the model ship cannot normally be increased beyond a certain point.

[Problem that the invention attempts to solve]

However, in such conventional towing vehicle drive control devices, the amount of change in relative position is visually observed,
Since the speed correction amount is considered and the value is input into the speed setting potentiometer 12, the relative position of the model ship and the towing vehicle, which make complex movements in the waves, can be accurately corrected. , it takes skill based on long experience to barely detect the periodic movement of the model ship caused by waves, and to stably track only the direct current that is swept away by the model ship by the waves. This method requires the ability of a skilled person, and in some cases even an experienced person may fail, resulting in not only poor experimental efficiency but also large measurement errors.

This invention was proposed in view of these circumstances, and it is possible to sway up and down, sway left and right, sway back and forth, and sway in the waves.
In the tow wheel drive control system for a model ship that moves by itself while pitching, rolling, etc., there is almost no control over what causes the periodic movement of a self-propelled model ship that moves in a complex manner in waves. In order to stably track only the direct current that is swept away by the model boat without sensing it, it is necessary to accurately grasp the waves on the water surface of the aquarium, and adjust the dead band width of the speed signal adjustment circuit to the wave height and wave height of the waves. It is necessary to adjust each time according to the cycle. Therefore, by measuring the waves on the water surface of the aquarium and automatically adjusting the dead band width of the speed signal adjustment circuit, it is possible to prevent the self-propelled model boat from periodically moving due to the waves regardless of the waves. It is an object of the present invention to provide a towing vehicle drive control device that stably tracks only the direct current that is swept away by a model ship by waves, without sensing much of the current.

[Means for solving problems]

For this reason, the towing vehicle drive control device of the present invention, which drives the towing vehicle along the upper edge of the test tank at a set speed based on the output of a speed setting device, comprises a relative position detection circuit which detects the relative displacement between the self-propelled model ship and the towing vehicle, a calculation circuit which calculates and outputs the hull motion of the model ship,
a peak hold circuit which holds the positive and negative peaks output from the arithmetic circuit, and a speed signal adjustment circuit which calculates and adds an integral value and a proportional value based on the output from the relative position detection circuit and outputs the sum to the speed setter, and which receives the output from the peak hold circuit and sets the proportional value to zero when the proportional value is within the range of the output value from the peak hold circuit.

[Effect]

With this configuration, the model ship, which is self-propelled while rocking up and down, swaying left and right, swaying back and forth, pitching, and swaying in waves, can hardly sense any periodic movements caused by it. First, it is possible to obtain an easy-to-handle towing vehicle drive control device that can stably track only the DC component that is swept away by the model boat due to waves.

〔Example〕

An embodiment of the present invention will be explained with reference to the drawings.
FIG. 1 is a block diagram showing the towing vehicle drive control device of the present invention, FIG. 2 is a diagram showing the speed of the towing vehicle in FIG. 1, and FIG. 3 is a diagram showing the speed of the towing vehicle in FIG. 1. Figure 3 is a line diagram showing the relative changes between the model ship and the tow truck during waves, Figure 4 is the line diagram shown in Figure 1.
It is a characteristic diagram of the dead zone element of a.

FIG. 5 is an example of wave height measurement by a wave height meter, FIG. 6 is a characteristic diagram of an arithmetic circuit, FIG. 7 is a peak holder characteristic diagram, and FIG. 8 is a characteristic diagram due to waves of a dead band element in a speed signal adjustment circuit.

First, in FIG. 1, the same symbols as in FIG. 9 indicate the same members as in FIG. 9, and in this embodiment, as in FIG. A circuit 14 and a motor drive circuit 15 are provided, and a lamp 19 and a battery 20 serving as its power source are further provided on the model ship 6.
The signal from the television camera controller 22 of the television camera 21 installed on the towing vehicle 2 is inputted to a relative position measuring circuit 23 that converts it into a relative position, and then inputted to a speed signal adjustment circuit 25 as a relative position signal. The speed signal adjustment circuit 25 is configured to output the relative position signal as a speed signal to the set speed holding circuit 13.

In the self-propulsion test in waves, the model ship's hull motion is caused by the waves, and the model ship moves forward while facing resistance from the waves. As shown in Figure 2, the model ship undergoes hull movement, and the ship's speed gradually decreases due to increased resistance due to waves, until it reaches a speed where the thrust generated by the propeller and the resistance are balanced.

Here, v represents the ship speed, and Tw represents the period of encounter between the model ship and waves.

In this way, when the model ship is moving forward with hull motion, if the tow truck is controlled with zero displacement relative to the model ship, the tow truck will move at the encounter period Tw of the model ship with the waves. As a result, the tow truck vibrates violently.

Therefore, as a practical matter, it is not possible to control the relative displacement at zero, and it is necessary to make the tow truck track the model ship using the average line of the fluctuating relative displacement. A signal conditioning circuit 25 is provided.

That is, the speed signal adjustment circuit 25 includes a dead band element 25a, an integral element 25b, a proportional element 25c, and a sample hold circuit 25d.

The signal output from the relative displacement measurement circuit 23 is
The output of the dead band element 25a is input to the proportional element 25c, and the output of the dead band element 25a is input to the proportional element 25c.
The output of the proportional element 25c and the output of the integral element are added and output to the set speed holding circuit 13, and the sample hold circuit 25d is used as necessary.

Now, suppose that the model ship and the tow truck are moving at the same speed in calm water, and the relative displacement is zero (a reference point is set), and when the model ship receives disturbance from waves, the result is as shown in Figure 3. Relative displacement (change from reference point) ΔSo
If this occurs, the relative displacement measurement circuit 23
A voltage corresponding to ΔSo is output and input to the speed signal adjustment circuit 25, and the speed signal adjustment circuit 25
The integral sign of the input signal is output to the set speed holding circuit 13 as a proportional signal.

Therefore, the signal of the set speed holding circuit 13 is changed, and the speed of the towing vehicle is controlled through the speed control circuit 14 and motor drive circuit 15 so that the relative displacement becomes zero.

At that time, the average relative displacement amount ΔSb approaches zero as shown in the figure, but the tow truck vibrates slightly due to the variation ΔSa in the relative displacement amount caused by the hull movement of the model ship due to waves. .

However, as the relative displacement amount ΔSo approaches the reference point as shown in FIG. 4, although the relative displacement amount ΔSo changes to be positive or negative with respect to the reference point, the relative displacement amount ΔSo falls within the range of the dead zone width ΔH, Since the speed signal adjustment circuit 25 outputs only the integral signal of the relative displacement amount to the set speed holding circuit 13, the towing vehicle does not respond to the hull movement of the model ship due to waves, and stable tracking is possible.

That is, the figure shows that the input voltage Vin of the dead band element
The output voltage is zero when the input voltage is within the range of ΔH, and the output voltage Vout is output only when the input voltage exceeds ΔH.

Therefore, in order to stably and accurately track the towing vehicle, it is necessary to set the dead zone width ΔH of the dead zone element in accordance with the hull motion of the model ship due to waves. For this purpose, a wave height meter 26 is attached to the towing vehicle, and a wave height meter amplifier 27 measures waves. Figure 5 is an example of wave measurement, where Hw indicates wave height. The wave signal is converted into a hull motion signal by the arithmetic circuit 28 which estimates and outputs the hull motion of the model ship using the measured wave outgoing/combining period Tw and wave height Hw. FIG. 6 is a characteristic diagram of the arithmetic circuit 28, where Xa indicates the amplitude of the back and forth rocking of the model ship hull motion. The output of the arithmetic circuit 28 is
A peak hold circuit 29 holds each positive and negative peak value of the signal. FIG. 7 shows an example of peak hold in the peak hold circuit 29.
The dotted line indicates the output signal of the arithmetic circuit. The held positive and negative peak values are sent to the dead zone element 25a of the speed signal adjustment circuit 25, and the dead zone width ΔH is set based on the difference between the positive peak value and the negative peak value. By configuring such a circuit, the dead band width ΔH of the dead band element of the speed signal adjustment circuit 25 is automatically set to the best value depending on the waves Hw and Tw. Figure 8 shows a characteristic diagram of the longitudinal oscillation Xa of the hull motion of the model ship and the dead zone width ΔH of the dead zone element.

In this way, the model ship rocks up and down in the waves.
The speed of a model ship when it moves on its own with movements such as swaying left and right and back and forth is required to be accurately determined.

The sample-and-hold circuit 25d is provided to prevent a sudden change in output when the test is interrupted, and is not usually required.

[Effect of idea]

In short, according to the present invention, in a tow truck drive control device that drives a tow truck at a set speed along the upper edge of a test water tank based on the output of a speed setting device, a relative position detection circuit that detects the relative displacement between the model ship and the model ship; a calculation circuit that calculates and outputs the hull motion of the model ship; a peak hold circuit that holds the positive and negative peaks output from the calculation circuit; An integral value and a proportional value are calculated and added based on the output from the detection circuit and output to the speed setter, and the proportional value receives the output from the peak hold circuit and calculates the proportional value of the output value from the peak hold circuit. Equipped with a speed signal adjustment circuit that makes the proportional value zero when within the range, a model ship that runs on its own in waves while rocking up and down, rocking left and right, rocking back and forth, pitching, rolling, etc. This provides an easy-to-handle towing vehicle drive control device that hardly detects periodic motion caused by waves and can stably track only the DC component that is swept away by waves. , the present invention is extremely useful industrially.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing a towing vehicle drive control device according to an embodiment of the present invention, Figure 2 is a diagram showing the speed of the towing vehicle in Figure 1, and Figure 3 is a model boat in waves. Diagram 4 showing changes in relative displacement between the tow vehicle and the tow vehicle
The figure is a characteristic diagram of the dead zone element 25a in FIG. 1. Fig. 5 is an example of wave height measurement, Fig. 6 is a characteristic diagram of the arithmetic circuit, Fig. 7 is a characteristic diagram showing peak hold of the output of the arithmetic circuit, and Fig. 8 shows the hull motion and 25 in Fig. 1.
It is a characteristic diagram of the dead zone element of a. FIG. 9 is a block diagram showing an example of a conventional towing vehicle drive control device. 2...Tow truck, 11...Speed setting dial, 1
2...Speed setting potentiometer, 13...Set speed holding circuit, 14...Speed control circuit, 15...
...Motor drive circuit, 21...TV camera, 2
3... Relative position measurement circuit, 24... Relative position indicator, 25... Speed signal adjustment circuit, 25a... Dead band element, 25b... Integral element, 25c... Proportional element, 25d... Sample hold circuit, 26 ……
Wave height meter, 28... Arithmetic circuit, 29... Peak hold circuit.

Claims (1)

[Scope of utility model registration request] A tow truck drive control device that runs a tow truck at a set speed along the upper edge of a test water tank based on the output of a speed setting device detects the relative displacement between the self-propelled model ship and the tow truck. a relative position detection circuit,
An arithmetic circuit that calculates and outputs the hull motion of the model ship, a peak hold circuit that holds the positive and negative peaks output from the arithmetic circuit, and an integral value and a proportional value based on the output from the relative position detection circuit. Speed signal adjustment that calculates and adds the result and outputs it to the speed setting device, and also receives the output from the peak hold circuit and sets the proportional value to zero when the proportional value is within the range of the output value from the peak hold circuit. A towing vehicle drive control device characterized by comprising a circuit.