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Control system of floating mobile body

外国特許コード F110002546
整理番号 F2004-004
掲載日 2011年3月23日
出願国 欧州特許庁(EPO)
出願番号 05710708
公報番号 1724653
公報番号 1724653
出願日 平成17年2月25日(2005.2.25)
公報発行日 平成18年11月22日(2006.11.22)
公報発行日 平成26年5月7日(2014.5.7)
国際出願番号 JP2005003158
国際公開番号 WO2005081082
国際出願日 平成17年2月25日(2005.2.25)
国際公開日 平成17年9月1日(2005.9.1)
優先権データ
  • 2005JP003158 (2005.2.25) WO
  • 特願2004-050586 (2004.2.25) JP
発明の名称 (英語) Control system of floating mobile body
発明の概要(英語) An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caused by waves, tidal current, etc.
A floating mobile object control system of the present invention capable of achieving the above object is a control system 1 for a floating mobile object 10, in which the floating mobile object includes: a main body part B that can be considered as a single rigid body constituting apart of the floating mobile object; an effector part E for generating a thrust for the floating mobile object; and a thrust transfer gate G for dynamically connecting the main body part and the effector part, the thrust transfer gate being adapted to be able to actually measure a thrust from the effector part acting on the main body part, and a measured value for the thrust from the thrust transfer gate G is used to obtain a thrust command to the effector part E (FIG. 4).(see diagramm)
特許請求の範囲(英語) [claim1]
1. A control system controlling a floating mobile object (10) which includes acceleration measurement means (2) capable of measuring an acceleration of the floating mobile object (10, characterized in that: the floating mobile object (10) is arithmetically divided into: a virtual main body part (B) that can be considered as a single rigid body constituting a part of the floating mobile object (10); a virtual effector part (E) for generating a thrust for the floating mobile object (10); and a virtual thrust transfer gate (G) for virtually connecting the virtual main body part (B) and the virtual effector part (E), the virtual thrust transfer gate (G) being adapted to be able to estimate a thrust from the virtual effector part (E) acting on the virtual main body part (B) based on an output from the acceleration measurement means (2), and a thrust command to the virtual effector part (E) is obtained by using an estimated thrust value (ûG2) from the virtual thrust transfer gate (G).
[claim2]
2. The control system controlling a floating mobile object (10) according to claim 1, wherein,
the virtual thrust transfer gate includes force/torque estimation means capable of estimating a force/torque applied between the virtual main body part and the virtual effector part, and
the thrust command to the virtual effector part is obtained by using: an output from the force/torque estimation means of the virtual thrust transfer gate; and a target acceleration trajectory command obtained by converting an externally inputted target position/velocity trajectory command.
[claim3]
3. The control system controlling a floating mobile object according to claim 1 or 2, wherein,
the virtual main body part additionally includes inclination angle measurement means (3) capable of measuring an inclination of the floating mobile object, and
the thrust command to the virtual effector part is obtained by additionally using an output from the inclination angle measurement means.
[claim4]
4. The control system controlling a floating mobile object according to any one of claims 1 through 3, wherein,
the floating mobile object additionally includes position/velocity measurement means (4) capable of measuring a position or a velocity of the floating mobile object, and
the thrust command to the virtual effector part is obtained by additionally using an output from the position/velocity measurement means and an externally inputted target position command or target velocity command.
  • 出願人(英語)
  • RITSUMEIKAN TRUST
  • 発明者(英語)
  • KANAOKA KATSUYA
国際特許分類(IPC)
欧州特許分類/主・副
  • G05D001/02C4
  • G05D001/08C
指定国 Contracting States: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR
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