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Underwater Sailing Body and Method of Controlling Posture of Underwater Sailing Body
Underwater Sailing Body and Method of Controlling Posture of Underwater Sailing Body
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机译：水下航行体及控制水下航行体姿势的方法
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摘要
This underwater travelling body is provided with a position detection device which detects position information about a boat body; an orientation detecting sensor which detects orientation information about the boat body; an actuator which applies thrust underwater in each of the front-back, left-right, and up-down directions of the boat body and changes the position and orientation of the boat body; and a control device which controls the actuator. To maintain the boat body at a target position on the basis of the position information detected by the position detection device, the control device controls the actuator by calculating control forces in each of the front-back, left-right, and up-down directions of the boat body, and calculating rotational control forces for rotating the boat body in each of the roll, yaw, and pitch directions, and when an external force is applied to the boat body being maintained at the target position, the control device changes the target orientation information such that the magnitudes of the control forces in the left-right and up-down directions become zero, and changes the orientation of the boat body to an orientation matching the orientation information that has been changed on the basis of the orientation information detected by the orientation detecting sensor. Thus, the boat body can be maintained at the target position while suppressing power consumption.
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