JPS5780992A - Dynamic position holding controller for underwater steaming body - Google Patents

Abstract

PURPOSE: To control the position and the bearing of an underwater steaming body by controlling thrust forces through a combination of a position detector and the like with PID controllers, and to reduce the power consumption in generating the thrust forces of thrusters by preventing the exertion of lateral disturbing forces through allowing for bearing deviations arising from disturbances.

CONSTITUTION: Outputs of a position setter 500 and the position detector 504 are fed into a position deviation converter 510 through subtractors 506 and 507. Outputs of a bearing setter 501 and a bearing finder 505 are fed into the PD controllers 513, 518, 522, 525 through the subtractor 508, while outputs of a depth setter 502 and a depth meter 503 are fed into the PID controller 527 through a subtractor 509. Outputs of the PD and PID controllers are fed into servo devices to control right and left propellers 03, 06 and bow, stern and vertical thrusters 09, 12, 15. Accordingly, since the thrust forces are automatically controlled by the PD and PID controllers, the position of the steaming body is controlled, and since the control allows for the bearing deviations arising from disturbances, the exertion of lateral disturbing forces can be prevented even when the body receives tidal forces. Therefore, the power consumption in generating the thrust forces can be reduced.

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