JPH03125693A - Software servo for underwater vehicles - Google Patents

Abstract

PURPOSE:To enable more precise control in water by comparing the feedback signal of a variable pitch propeller with a calculation value obtained by the calculator of an on-board device, controlling a servo valve on the basis of the differential signal to control the pitch angle of the variable pitch propeller. CONSTITUTION:A multiplex transmission device sub station 2, a servo valve 3, and a potentiometer 5 are integrated into an underwater sailing body 1 propelled by a variable pitch propeller 4, and a multiplex transmission device main station 7 and a control part 8 are provided on an on-board device 6. The sub station 2 is connected to the main station 7 by a cable, and the servo valve is controlled by the signal inputted from the main station 7 to control the pitch angle of the variable pitch propeller 4, and the signal of the potentiometer 5 for detecting the pitch angle of the propeller 4 is outputted to the main station 7. The feedback signal inputted to a servo computer 13 through the A/D exchanger 12 of the control part 8 is compared with the voltage signal resulted from the motion calculation by a calculator 11, and a current according to the deviation is outputted from the main station 7 to the sub station 2.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for an underwater vehicle, an underwater work boat, etc.

[Conventional technology] A conventional device is shown in FIG.

In FIG. 2, a multiplex transmission device slave station 2,
A servo valve 3, a variable pitch propeller 4, a potentiometer 5, and a servo amplifier 9 are incorporated, and a multiplex transmission device master station 7 and a control section 10 are incorporated in the onboard device 6.

If a change in the variable pitch propeller 4 is requested based on the motion calculation result during the motion of the vehicle 1, the calculation result is vl
Suppose that is output.

This signal is transmitted via the multiplex transmission device master station 7 and slave station 2.
The signal is input to the servo amplifier 9 as follows.

The servo amplifier 9 compares this V2 with the signal v3 from the potentiometer 5, and supplies the corresponding output to the servo valve 3 as a current l.

Since the opening degree of the servo valve 3 depends on the input terminal I, the propeller pitch is changed by changing the amount of oil supplied to the variable pitch propeller 4. By attaching the variable pitch propeller 4 to a constant rotating machine, a change in the propeller pitch becomes a change (control) in the propulsive force of the underwater vehicle.

During this series of operations, the pitch angle of the variable pitch propeller 4 is constantly detected by the potentiometer 5, and the detected value is fed back to the servo amplifier 9 as a feedback voltage v3.

[Problem to be solved by the invention] In recent years, ocean development has progressed rapidly, and underwater vehicles and underwater working membranes have become larger and require precise movement such as stopping at a single point underwater, and their control is becoming increasingly difficult. As a method, computer control is becoming established.

However, as shown in Figure 2, although a computer is installed in the overall system, a servo system using a servo amplifier is used as the control system for controlling the propulsive force (variable pitch propeller operation).

The servo amplifier, which is the core of this servo system, causes subtle zero-point drift and gain changes due to changes over time and temperature, so it is regularly adjusted (calibrated) before use.

Normally, these adjustments (calibrations) are performed by breaking the pressure vessel of the vehicle, readjusting it, and then performing restoration (airtightness check), but as the vehicle becomes larger and more precise, these operations become more difficult. It's becoming bothersome.

The present invention aims to provide a software servo that solves these problems.

Means for Solving Problem C] The software servo for an underwater vehicle according to the present invention is a control device for an underwater vehicle propelled by a variable pitch propeller, in which an underwater vehicle 1 is connected to a multiplex transmission device slave station 2. In addition to incorporating the servo valve 3 and potentiometer 5, the onboard device 6
The multiplex transmission device master station 7 is equipped with a multiplex transmission device master station 7 and a control section 8, and the multiplex transmission device slave station 2 is connected to the multiplex transmission device master station 7 by a cable, and the signal inputted from the multiplex transmission device master station 7 is controlled at a variable pitch. A detection signal of the pitch angle of the variable pitch propeller is sent to the servo valve 3 that controls the pitch angle of the propeller 4, and is inputted from the potentiometer 5 and output to the multiplex transmission device master station 7. Multiplex transmission device 2 for signals from potentiometer 5 in body 1
and outputs it as a feedback signal to the A/D converter 12 of the control unit 8, and the control unit 8
, an A/D converter 12 , and a servo calculation section 13 , and the servo calculation section 13 compares the voltage resulting from the motion calculation by the computer 11 with the feedback voltage from the potentiometer 5 input via the A/D converter 12 . The present invention is characterized in that a current corresponding to the deviation is calculated and outputted to the multiplex transmission device slave station 2 via the multiplex transmission device master station 7.

[Function] The pitch angle of the variable pitch propeller during the motion of the underwater vehicle is captured by a potentiometer, and the value is fed back to the computer in the onboard equipment control unit via the multiplex transmission device, and the servo calculation (servo valve current for deviation) is performed. The thrust of the vehicle is controlled by performing calculations) and applying the calculation results to the variable pitch propeller again via the multiplex transmission device and servo valve.

[Example] An example of the present invention is shown in FIG. In Figure 1, (1
) to (7) are the same as those of the prior art, so their explanation will be omitted.

The servo calculation unit 13 of the control unit 8 compares the feedback voltage from the potentiometer 5 input via the A/D converter 12 with the voltage of the motion calculation result by the computer 11,
The current according to the deviation is calculated and the multiplex transmission device (7, 2
) to the servo valve 3.

In the system configured as described above, when a change in the variable pitch propeller 4 is required in order to change the thrust based on the motion calculation result of the vehicle 1, first the current pitch angle of the variable pitch propeller 4 is is detected by potentiometer 5,
The signal is output to the control section 8 as a feedback signal V2 via the multiplex transmission device slave station 2, the master station 7, and the A/D converter 12. Next, calculate ■ (command voltage) - v2 (feedback voltage) ■, calculate the current according to the deviation using a table in the computer, and send it to the servo valve 3 via the multiplex transmission device master station 7 and slave station 2. Output to.

The valve opening of the servo valve 3 is adjusted by the supply current I, and oil corresponding to the valve opening flows into the variable pitch propeller 4, changing the pitch angle of the propeller.

Note that the changed pitch angle of the propeller is constantly detected by a potentiometer, and when the value becomes Vl-V2 in the control unit 8, the current to the servo valve 3 becomes 0, and the change in the pitch angle of the variable pitch propeller 4 is stopped. Stop.

Through the series of operations described above, the thrust of the vehicle 1 is controlled.

The program flowchart is shown in FIG. 1(C).

[Effects of the Invention] Since the present invention is configured as described above, it produces the following effects.

(1) By combining the feedback signal of the variable pitch propeller with a computer onboard equipment, and by diluting the control system of the servo valve, the servo valve, which has been causing zero point drift and gain changes due to changes over time and temperature, can be The amplifier can be removed from the vehicle's pressure vessel.

(2) Since the servo calculation section of the control section constitutes the control system of the servo valve, and it becomes possible to operate the servo valve, adjustments for errors (drift) etc. can be made using the keyboard of the onboard device.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of the present invention, and FIG. 2 is a diagram showing a conventional example. 1... Navigation vehicle, 2... Multiplex transmission device (slave station), 3...
...Servo valve, 4...Variable pitch propeller, 5.
... Potentiometer, 6... Onboard device, 7... Multiplex transmission device (master station), 8... Control unit, 9... Servo amplifier, 10... Control unit, 11... Computer, 12・
... A/D converter, 13... Servo calculation section.

Claims (1)

[Claims] In a control device for an underwater vehicle propelled by a variable pitch propeller, a multiple transmission device slave station (2), a servo valve (3), and a potentiometer (5) are incorporated into the underwater vehicle (1). In addition, the onboard device (6) includes a multiplex transmission device master station (7) and a control unit (8), and the multiplex transmission device slave station (2) is connected to the multiplex transmission device master station (7) by a cable. and the multiplex transmission equipment master station (
7) is sent to the servo valve (3) that controls the pitch angle of the variable pitch propeller (4),
A detection signal of the pitch angle of the variable pitch propeller is input from the potentiometer (5) and output to the multiplex transmission device master station (7), and the multiplex transmission device (7) is connected to the potentiometer (5) in the vehicle (1). ) is input through the multiplex transmission device (2) and output as a feedback signal to the A/D converter (12) of the control section (8), and the control section (8) is connected to the computer (11). A/D converter (1
2) and a servo calculation section (13), the servo computer (
13) compares the voltage resulting from the motion calculation by the computer (11) with the feedback voltage from the potentiometer (5) input via the A/D converter (12), and generates a current according to the deviation. A software servo for an underwater vehicle, characterized in that it calculates and outputs the calculated data to a multiplex transmission device slave station (2) via a multiplex transmission device master station (7).