FLOATING BODY, DEVICE AND METHOD FOR CONTROLLING ORIENTATION REVOLUTION OF THE SAME

摘要

PROBLEM TO BE SOLVED: To provide a floating body the orientation revolution of which is automatically controlled without detecting the number of revolutions of double reverse revolution wings and feeding it back to a controller. SOLUTION: The floating body 1 includes: a Cw revolution wing 3 and a Ccw revolution wing 5 installed nearly coaxially in the state of being rotatable with respect to a base part and revolving in directions opposite to each other; an orientation revolution controlling device 10 for controlling the orientation revolution of the base part; and an orientation revolution detection means 20 for detecting the orientation revolution of the base part. The orientation revolution controlling apparatus 10 includes: an angle controller 103 which performs the prediction and the error correction of the angle of the base part and an angular velocity by using a full state observation apparatus based on a previously set model and the angular data of the base part detected by the orientation revolution detection means 20; and an angular velocity controller 104 which generates and outputs a velocity difference control signal by PID control based on the output data of the angle controller 103 and angular velocity data detected by an angular velocity sensor 18. COPYRIGHT: (C)2004,JPO&NCIPI