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    • 4. 发明公开
    • SUBMERGED BODY AND METHOD OF CONTROLLING SUBMERSION POSITION OF THE SAME
    • GETAUCHTERKÖRPERUNF VERFAHREN ZUM REGELN DER TAUCHPOSITION DESSELBEN
    • EP0838393A1
    • 1998-04-29
    • EP96942571.9
    • 1996-12-19
    • Ishikawajima-Harima Heavy Industries Co., Ltd.
    • TAKAHASHI, YoshiakiO-OI, Tadashi
    • B63G8/42
    • B63C11/42G05B13/027G05D1/0692
    • A submerged body using a propulsion means driven so as to change a submersion position on the basis of a total control input obtained by adding first and second control inputs to each other, a proportional control means for generating the first control input on the basis of a difference between a target value of the submersion position and a position amount representative of an actual submersion position and output the first control input, and a neural network information processing methods, characterized in that a network control means is provided which is adapted to learn the kinetic properties of a submersion position on the basis of the first control input and the submersion positions sampled at a plurality of instants, learn after the precedent learning so that a evaluation amount determined on the basis of a difference between the mentioned kinetic properties and a target value of kinetic perperties takes a minimum value, and set a second control input on the basis of the kinetic properties and output the same.
    • 一种使用推进装置的浸没体,其基于通过将第一和第二控制输入相加而获得的总控制输入而被驱动以改变下沉位置;比例控制装置,用于基于 淹没位置的目标值与表示实际浸没位置的位置量之间的差异,并输出第一控制输入,以及神经网络信息处理方法,其特征在于,提供网络控制装置,其适于学习动力学 基于第一控制输入和在多个时刻采样的浸没位置的浸没位置的属性在先验学习之后学习,以便基于所提到的动力特性和目标值之间的差确定的评估量 的动力学性能取最小值,并根据动力学设定第二个控制输入 属性和输出相同。