Attitude control method for underwater vehicle and underwater vehicle

摘要

PROBLEM TO BE SOLVED: To propose an underwater vessel capable of while suppressing power consumption, retaining a boat hull in a target position.SOLUTION: An underwater vessel includes: a positioning device 9 for detecting position information of a boat hull; an attitude detection sensor for detecting attitude information of the boat hull; an actuator 3 for changing a position and attitude of the boat hull by imparting thrust to respective directions of back and forth, lateral and vertical to the boat hull; and a controller 50 for controlling the actuator. The controller, in order to retain the boat hull in the target position based on the detected position information, controls the actuator seeking controlling force respectively in the back and forth direction, the lateral direction and the vertical direction and turning controlling force for turning the boat hull in respective directions of roll, yaw and pitch; updates targetted attitude information so that the magnitude of the controlling force in the lateral direction and the vertical direction are made zero when external force is imparted to the boat hull retained in the target position; and changes the boat hull to the attitude according to the attitude information after the update based on the detected attitude information.SELECTED DRAWING: Figure 5