UNDERWATER SAILING BODY CONTROL DEVICE, UNDERWATER SAILING SYSTEM, UNDERWATER SAILING BODY CONTROL METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide an underwater sailing body control device which can achieve accurate kinematic control to an underwater sailing body, with a simple structure.;SOLUTION: An underwater sailing body control device 2 comprises: a feedback control part 20 for calculating a thrust command value indicating a thrust to be applied to an underwater sailing body 10 for reducing a deviation, on the basis of the deviation of an actual value of a state quantity (position, speed) of the underwater sailing body 10 acquired through a sensor mounted on the underwater sailing body 10, and a given command value of the state quantity; a thrust distribution part 21 for calculating a thrust command value for every thruster, indicating a thrust which each of plural thrusters 100 should generate, for inputting a prescribed disturbance compensation thrust command value based on the thrust command value, and giving the thrust indicated in the disturbance compensation thrust command value to the underwater sailing body 10; and a disturbance estimation part 23 for, on the basis of the thrust command value and the actual value of the state quantity (speed), calculating a disturbance estimation value indicating disturbance force which acts the underwater sailing body 10.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2018,JPO&INPIT