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Control system of floating mobile body

Foreign code F110002546
File No. F2004-004
Posted date Mar 23, 2011
Country EPO
Application number 05710708
Gazette No. 1724653
Gazette No. 1724653
Date of filing Feb 25, 2005
Gazette Date Nov 22, 2006
Gazette Date May 7, 2014
International application number JP2005003158
International publication number WO2005081082
Date of international filing Feb 25, 2005
Date of international publication Sep 1, 2005
Priority data
  • 2005JP003158 (Feb 25, 2005) WO
  • P2004-050586 (Feb 25, 2004) JP
Title Control system of floating mobile body
Abstract 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)
Scope of claims [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.
  • Applicant
  • RITSUMEIKAN TRUST
  • Inventor
  • KANAOKA KATSUYA
IPC(International Patent Classification)
U.S. Cl./(Sub)
  • G05D001/02C4
  • G05D001/08C
Specified countries 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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