| 摘要 |
PURPOSE:To continue steering control of a submarine boat even if a course, depth or attitude angle sensor are at fault, by calculating the present course, depth and attitude angle of the submarine boat by solving an equation motion. CONSTITUTION:A motion equation calculating part 3 solves and equation of motion by a prescribed algorithm from a signal for indicating a longitudinal steering angle Br, a front steering angle Bef and a rear steering angle Bea outputted from a steering angle control part 2, and a speed signal (v) outputted from a speed detecting part 7, calculates the present course, depth and attitude angle of a submarine boat, and outputs them as signals phi', h' and theta', respectively. For instance, when the course sensor is at fault, an output phi' of the motion equation calculating part 3 is outputted instead of an output phi of a sensor part 6. Accordingly, the steering angle control part 2 can continue control of a helm driving part 8 by executing control operation so that the output phi' of the motion equation calculating part 3, and outputs (h), theta of the sensor part 6 attain a target value indicated from a target setting part 1, respectively. Even in case the depth sensor or the attitude angle sensor, etc. are at fault, the steering control is continued by using the output of the motion equation calculating 3 in the same way. |
