Title:
SUBMERGED BODY AND METHOD OF CONTROLLING SUBMERSION POSITION OF THE SAME
Document Type and Number:
WIPO Patent Application WO/1997/042075
Kind Code:
A1
Abstract:
A submerged body using a propulsion means driven so as to change a submersion position on the basis of a total control input obtained by adding first and second control inputs to each other, a proportional control means for generating the first control input on the basis of a difference between a target value of the submersion position and a position amount representative of an actual submersion position and output the first control input, and a neural network information processing methods, characterized in that a network control means is provided which is adapted to learn the kinetic properties of a submersion position on the basis of the first control input and the submersion positions sampled at a plurality of instants, learn after the precedent learning so that an evaluation amount determined on the basis of a difference between the mentioned kinetic properties and a target value of kinetic perperties takes a minimum value, and set a second control input on the basis of the kinetic properties and output the same.
Inventors:
TAKAHASHI YOSHIAKI (JP)
O-OI TADASHI (JP)
O-OI TADASHI (JP)
Application Number:
PCT/JP1996/003697
Publication Date:
November 13, 1997
Filing Date:
December 19, 1996
Export Citation:
Assignee:
ISHIKAWAJIMA HARIMA HEAVY IND (JP)
TAKAHASHI YOSHIAKI (JP)
O OI TADASHI (JP)
TAKAHASHI YOSHIAKI (JP)
O OI TADASHI (JP)
International Classes:
B63C11/42; B63C11/00; B63G8/14; B63G8/42; G05B13/02; G05D1/06; (IPC1-7): B63G8/42
Foreign References:
| JPH07187072A | 1995-07-25 | |||
| JPH06107292A | 1994-04-19 | |||
| JPH06175998A | 1994-06-24 | |||
| JPH05134710A | 1993-06-01 | |||
| JPH07503563A | 1995-04-13 | |||
| JPH07187072A | 1995-07-25 |
Other References:
See also references of EP 0838393A4
Download PDF: