Ships – Submersible device – Having attitude control
Patent
1998-01-02
2000-01-25
Dayoan, D. Glenn
Ships
Submersible device
Having attitude control
114330, 114312, 114338, 364162, B63G 814, B63G 800, B63G 808, B05B 1302
Patent
active
060167637
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a submersible unit and a method for controlling the diving position of such an unit, and especially relates to techniques for holding constant the diving position of a submersible unit with respect to non-periodic external disturbances.
BACKGROUND ART
Japanese Patent Application, First Publication No. Hei 7-187072 discloses art relating to an automatic control method for a submersible unit using neural networks. This automatic control method for a submersible unit absorbs the effects of periodic external forces (external disturbances to the positional control of the submersible unit) such as waves by using learning control employing conventionally used proportional-plus-integral-plus-derivative control (PID control) and neural networks, thereby holding the diving position of the submersible unit constant even when periodic external forces are applied. That is, according to this automatic control method, the frequencies of periodic disturbances due to waves and the like are learned, an oscillator network is provided for outputting a sine wave signal of a standard frequency based on the learned frequency, and a neural controller controls the depth of the submersible unit based on the output of the oscillator network.
However, although the above-described automatic control method for a submersible unit is capable of holding the depth constant by absorbing the effects of periodic external disturbances acting on the submersible unit based on a sine wave output from an oscillator network, it is not capable of holding the depth sufficiently constant with respect to non-periodic external disturbances.
DISCLOSURE OF THE INVENTION
The present invention has been achieved in consideration of the above-mentioned problems, and has the object of offering a submersible unit and diving position control method capable of holding the diving position of the submersible unit constant with respect to non-periodic external disturbances.
The present invention relating to a submersible unit comprises propulsion means for changing a diving position based on a total work quantity which is the sum of a first work quantity and a second work quantity; proportional control means for generating and outputting said first work quantity based on a difference between position quantities indicating a target diving position and a diving position; and network control means which uses a neural network data processing system for learning movement characteristics of a diving position based on said first work quantity and a diving position sampled over a plurality of times, for learning to minimize an evaluation quantity determined from a difference between said movement characteristics and target movement characteristic values, and setting and outputting a second work quantity based on said movement characteristics.
In the present invention constructed in this manner, the propulsion means is driven based on a total work quantity obtained by adding a first work quantity output from the proportional control means and a second work quantity output from the network control means. In this case, the network control means using a neural network data processing system learns the movement characteristics of the submersible unit based on the first work quantity and diving positions of the submersible unit sampled over a plurality of times, and after that learning is completed, learns to minimize an evaluation quantity comprising the difference between the learned movement characteristics and the target movement characteristic values for setting the second work quantity, which is output to the propulsion means.
By employing this type of structure, the present invention is capable of holding the diving position of the submersible unit constant with respect to non-periodic external disturbances such as waves.
The present invention relating to another submersible unit comprises an adder for adding a first work quantity and a second work quantity and outputting a total work quantity; propulsion means for ch
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O-oi Tadashi
Takahashi Yoshiaki
Dayoan D. Glenn
Ishikawajima-Harima Heavy Industries Co. Ltd.
Muldoon Patrick
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