| 摘要 |
PURPOSE:To control the unbalanced buoyancy and moment of the titled boat, by obtaining the balance of the submarine boat based on the steering angle output from an automatic steering control device. CONSTITUTION:An attitude angle detector 1 and a depth detector 2 detect the attitude angle and the depth of the submarine boat and output the results to steering servo systems 7 and 8 through gain setting devices 3-6. Adders 12-16, 24, and 26 and gain setting devices 9-11, 20-23, 27, and 28 supply the unbalanced buoyancy and moment signals to an automatic valve control device 32 together with the signal from a boat's speed detector 18. The automatic valve control device 32 controls a water injecting, draining, and moving tank 33 together with the steering angle signal from a judging device 31. Thus the submarine boat 29 is automatically controlled. |
