UNDERWATER VEHICLE MOTION CONTROL DEVICE AND UNDERWATER VEHICLE

摘要

PROBLEM TO BE SOLVED: To reduce the fluctuation of the attitude of an underwater vehicle body when the altitude at which the underwater vehicle cruises is controlled.;SOLUTION: This underwater vehicle motion control device comprises: an altitude collecting part 15 for measuring the first distance 25 from a first point 24 on a water bottom 29 to the underwater vehicle body 2 and the second distance 28 from a second position on the water bottom different from the first point 24 to the underwater vehicle body 2; and a rudder control part 16 for controlling a rudder 5 for changing the component in the direction vertical to the advancing direction 32 in which the underwater vehicle body 2 advances according to the altitude collecting part 15 and the first distance 25 and the second distance 28. The underwater vehicle motion control device reduces the fluctuation of the attitude angle and the altitude deviation of the underwater vehicle 1 more, compared with the case in which only one of the distances from one point on the water bottom 29 is measured and controlled when controlling the altitude at which the underwater vehicle 1 cruises.;COPYRIGHT: (C)2009,JPO&INPIT