AUTOMATIC ATTITUDE CONTROL SYSTEM FOR FLOAT BY STATE PREDICTION

摘要

PURPOSE:To continuously control the attitude of a floating body by a method in which prediction calculation of the attitude of the float is repeatedly made for every given time period until a set value is met, and when the difference between actually measured value and predicted value exceeds a given value, the body is automatically controlled to a target state. CONSTITUTION:An automatic attitude control system consists of a calculator 13 to predict the balanced attitude of a floating body, a calculator 14 to predictively calculate correcting amounts for attitude from predicted values in the calculator 13 and a target state set value, a calculator 15 to obtain the optimum distribution of water to be charged and discharged on the basis of correcting amounts calculated in the calculator 14, a controller 16 to control a water-changing and discharging device according to the water to be charged and discharged, calculated in the calculator 15, and an attitude controller 17 to examine for comparision actually measured values and predicted values in the calculator 13. Predictive calculation of attitude is repeatedly made for every given time period by the calculators 13-15 until a set value is met, and the body is automatically controlled to a target state by the controller 17 when the difference between the actually measured value examined there and the predicted value exceeds a given value.