Title:
CONTROL DEVICE, UNDERWATER VEHICLE AND CONTROL METHOD
Document Type and Number:
Japanese Patent JP2022183697
Kind Code:
A
Abstract:
To provide a control device that achieves both fluctuation suppression and energy saving performance.SOLUTION: A control device includes: a feedback controller that calculates a control command value based on the difference between a hull position and a target position; a non-interference controller that calculates a non-interference compensation value that cancels mutual interference between control axes of the hull; a disturbance estimator that calculates a disturbance compensation value to cancel disturbance; a speed saturation compensator that calculates a speed saturation compensation value that does not cause speed saturation; and a control system adjuster that adjusts at least one parameter of the non-interference controller, the disturbance estimator, and the speed saturation compensator based on fluctuation occurred in the hull and/or operation of the actuators.SELECTED DRAWING: Figure 1
Inventors:
MOCHIZUKI KEISUKE
SASAKI YUSEI
ADACHI TAKEYASU
AWAYA ICHIRO
NAKADA MASAHIRO
KURITA AKIHISA
MATSUOKA HIRONORI
ISHIKAWA YUKI
SASAKI YUSEI
ADACHI TAKEYASU
AWAYA ICHIRO
NAKADA MASAHIRO
KURITA AKIHISA
MATSUOKA HIRONORI
ISHIKAWA YUKI
Application Number:
JP2021091139A
Publication Date:
December 13, 2022
Filing Date:
May 31, 2021
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD
International Classes:
G05B13/02; B63C11/00; B63C11/48; G05B11/32
Attorney, Agent or Firm:
Yasushi Matsunuma
Eisuke Ito
Hiroyuki Hashimoto
Ancient city Satoshi
Koichiro Kamada
Eisuke Ito
Hiroyuki Hashimoto
Ancient city Satoshi
Koichiro Kamada
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