| 摘要 |
A system (Fig. 1), having an autopilot, with a simulator (14), and, say, for a submarine, is considered as also including a physical part (10), having means representing the dynamics in relation to state variables, with respect to the obtaining of an ordered depth, the dynamics also being affected by external disturbance forces, and measurement means (12) providing signals each representative of observed values of observation variables. The simulator, or state estimator (14), provides signals each representative of estimated values of the state variables, and is considered as being connected to measurement means (16) providing signals each representative of estimated values of the observation variables. Each pair of corresponding signals from the two measurement means is provided to a comparator (18), in response, providing an output signal fed back to the state estimator, together with each signal from the controller of the autopilot, to update the estimated state computed by the state estimator. The output signal from the comparator (18) also is supplied to computation means (24) arranged to provide, in response, signal representative of the instantaneous out-of-trim heave force, and the instantaneous out-of-trim pitching moment, acting on the submarine. |
