| 摘要 |
PROBLEM TO BE SOLVED: To provide a depth signal generation device that can generate accurately a stable control depth signal even if using a depth sensor of rough resolution. SOLUTION: The depth signal generation device 10 that can generate a control depth signalΔZa to become a target depth Z<SB POS="POST">0</SB>to control movement to the depth direction of a submarine boat 1 based on the detection depth Z<SB POS="POST">2</SB>of a depth sensor 8 installed in the submarine boat 1, includes: an estimation depth calculating part 15 to calculate estimation depth Z<SB POS="POST">1</SB>from a prescribed estimation depth calculation model based on the thruster rotating speed N<SB POS="POST">0</SB>of a vertical thruster 6; a depth signal calculating part 16 that calculates the difference of the calculated estimation depth Z<SB POS="POST">1</SB>and the target depth Z<SB POS="POST">0</SB>as a control depth signalΔZa; an estimation depth error calculating part 18 that calculates the difference of the calculated estimation depth Z<SB POS="POST">1</SB>and the detected depth Z<SB POS="POST">2</SB>as an estimation depth errorΔZb; and a thruster rotating speed correction part 20 that corrects the thruster rotating speed N<SB POS="POST">0</SB>input to the estimation depth calculating part 15 based on the estimation depth errorΔZb. COPYRIGHT: (C)2013,JPO&INPIT |
