CN106043634A - High-maneuverability underwater glider - Google Patents

Abstract

The invention discloses a high-maneuverability underwater glider. The high-maneuverability underwater glider comprises a gravity center adjusting mechanism, a gravity adjusting mechanism, high-maneuverability propellers, gliding wing plates, a balance empennage, a satellite communication system, a lower computer control system, a plurality of sensors and the like. The defects that previous gliders are weak in maneuvering capability and simplex in motion mode are overcome through the high-maneuverability propellers on the two sides of the glider. The gravity center adjustment and gravity adjustment of the glider are matched to achieve conventional sliding motion, and a high-speed propeller system is matched with the control system to achieve high-maneuverability motion; and the glider can be in communication with a control center through the telecommunication system after floating to the sea surface, the glider can work in a low-power-consumption gliding cruise mode under normal circumstances, and a high-speed high-maneuverability mode can be started if necessary. The design thought of the novel underwater glider has remarkable effects on enlargement of the application range of the glider, improvement of the viability of the glider and improvement of the comprehensive performance of the glider.

Description

A kind of high motor-driven underwater glider

Technical field

The present invention relates to novel sea aircraft master-plan field, be specially a kind of high motor-driven underwater glider.

Background technology

Since entering 21 century, the mankind are increasingly becoming social hotspots to cognition and the exploitation of ocean.Along with sending out of society of section The monitoring of ocean and seabed resources are developed into the content that country defense economy field is indispensable by exhibition.Oceangoing voyage journey, low merit The underwater glider of consumption is paid close attention to by countries in the world.Underwater glider is a kind of novel ocean navigation device, by adjusting appearance State and net buoyancy realize low energy consumption campaign with the form glided, and have the features such as high, strong, the good concealment of flying power of efficiency.This Outward, owing to movement velocity is slow and without running up parts, the hidden performance that underwater glider glides is especially good so that it is in military affairs On have the biggest application potential.But, using buoyancy-driven mode due to simple, underwater glider can only do zigzag under water With spiral rotary track navigate by water, positioning precision is low, the speed of a ship or plane is slow, maneuverability is weak, when stormy waves is bigger Layer Near The Sea Surface also can with ripple by Stream.

Patent of invention CN103661895A discloses " a kind of hydraulic jet propulsion type deep sea glider ", by configuring hydraulic jet propulsion Device provides interim high-speed motion for aerodone when necessary, but hydraulic propeller is inefficient at speed operation, and can not carry For deboost, aerodone shortcoming crash reversal or the most motor-driven ability.Patent of invention CN104590496A discloses " a kind of remote The wave aerodone that distance Non-energy-consumption independently navigates by water ", it is dragline type aerodone, solar panels suspend with sea all the time for energy Collecting and convert, the electric energy of generation is stored in accumulator for adjusting wing plate and rudder sheet attitude to realize glide process and weak motor-driven Process.This invention achieves unlimited continuation of the journey truly, however the disguised extreme difference of aerodone, easily by Lidar Equation, and Do not possess interim high speed or maneuverability.Patent of invention CN103287558A discloses one " Pleuronectidae type underwater glider ", passes through Four symmetrical built-in water bags regulation net buoyancy and center of gravity, it is achieved surely slide motor-driven with weak under water, this invention efficiency is high, make an uproar Low voice, good concealment, but rely on fluid dynamic to realize motor-driven, there is maneuverability deficiency in low speed glide state or turn partly The problem that footpath is excessive.In sum, existing disclosed aerodone generally ignores and joins for emergent thrust and strong maneuverability Put so that aerodone exists as just the ocean carrier of a kind of low speed.Therefore, aerodone Micro Energy Lose, remote how is combined Voyage, the feature of low noise, carve when necessary and give its high speed of a ship or plane, strong maneuverability, to extend its application and to improve Its survival ability, becomes current and researches and develops the problem that novel boat ocean aircraft is paid close attention to.

Summary of the invention

The deficiency existed in order to avoid prior art, overcomes that current aerodone maneuverability is weak, motor pattern is single lacks Point, the present invention proposes a kind of high motor-driven underwater glider, by gravity center adjusting mechanism and the reality that matches of gravity governor motion Existing conventional gliding, by realizing the high speed of aerodone and the high motion of automobile to the forward-reverse spiral oar speed governing of both wings.High motor-driven Aerodone is provided simultaneously with low-power consumption, oceangoing voyage journey, the glide cruise mode of low noise and high speed, high motor-driven attack or evades mould Formula, not only extends the application of underwater glider, also improves its survival ability and comprehensive effectiveness, and cost is relatively low and effect Significantly.

The present invention solve technical problem be the technical scheme is that include by aerodone total arrangement, gravity regulation machine Structure, gravity center adjusting mechanism, high motor-driven propulsion system, control system and the motor-driven underwater glider of height of telecommunication system composition, Being characterized in, the center of gravity regulation in described aerodone matches with gravity regulation and realizes conventional gliding, propelled at high velocity system Matching with control system and realize the high motion of automobile, aerodone can be with control by telecommunication system after floating up to sea Center communication, generally aerodone is operated in low-power consumption glide cruise mode, can start the highest motor-driven when necessary Pattern；

Described aerodone total arrangement by head spherical shell, the first end casing, cylindrical shell, the first wing plate, the second wing plate, One propeller, the second propeller, the second end plate, afterbody ellipsoid shell, tail plate, the first installing rack, the second installing rack, waterproof open Pass, charging inlet etc. form, and head spherical shell and afterbody ellipsoid shell are individually fixed in the first end casing and the second end casing acts primarily as Guide functions surface has permeable hole, and the first end casing, the second end casing, cylindrical shell are constituted at the main cabin section cooperation of aerodone Use O to carry out radial seal, the first installing rack and the second installing rack to join the first balancing weight, the second balancing weight, first join The aerodone core component such as weight rod, the second weighted rod, center of gravity adjustment structure, gravity governor motion, control system links together, Water proof switch is for connecting the circuit of control system, and charging inlet is for continuing energy for aerodone charging；

Described gravity governor motion by membrane pump, solenoid directional control valve, electromagnetic switch valve, the first water storage cabin, the second water storage cabin, The parts compositions such as relay group, flexible pipe, first switch to turnover or draining station, then by solenoid directional control valve before adjusting gravity Opening electromagnetic switch valve to realize water storage cabin internal and external pressure balance, opening membrane pump by adjusting finally by controlling relay group The self gravitation of joint water storage cabin water yield adjustment aerodone realizes floating or the dive of aerodone, and the water inlet in water storage cabin is opened in rear portion On the lower side, it is on the upper side that air vent is opened in rear portion, to guarantee that aerodone is with cocked-up attitude draining floating and nose-down attitude water inlet dive process Middle water is gentle can smooth into or out water storage cabin；

Described gravity center adjusting mechanism is by motor, stepper motor driver, shaft coupling, ball-screw, regulating block, bearing Composition, distance and positioning relation between the first installing rack and the second installing rack determine by water storage cabin, and motor is fixed on the Two installing racks, bearing is arranged on the first installing rack, and screw mandrel one end of ball-screw is connected separately with step motor shaft by shaft coupling One end is placed in dead eye, and the nut of ball-screw is connected with regulating block, by the rotation limiting regulating block that lowers the center of gravity；

The motor-driven propulsion system of described height is made up of the first propeller, the second propeller, DC motor driver and circuit, the One propeller and the second propeller respectively by direct current generator, sealed electric-motor cabin, propeller shafting, just or counter rotating propeller forms, DC motor driver controls angle of rake rotating or parking, by coordinate the first propeller and second angle of rake turn to and Rotating speed, the motor pattern such as aerodone can realize advancing rapidly, moves backward, any radius of gyration is motor-driven；

Described control system is deposited by slave computer, dual axis mechanical obliquity sensor, three axis accelerometer, hydraulic pressure gauge, data Card storage forms, and slave computer performs pre-set programs and combines instruction and the sensor feedback Data Control aerodone controlling terminal transmission Motion, slave computer periodically by telecommunication system accept control terminal instruction and to control terminal send aerodone fortune Row information, slave computer controls stepper motor driver, solenoid directional control valve, relay group, electromagnetic switch valve, unidirectional current by serial ports Machine driver realizes all motor patterns of aerodone, the acceleration of three axis accelerometer feedback aerodone and angular acceleration, leads to Crossing integral operation and can obtain the real-time position information of aerodone, attitude information and kinematic parameter, mechanical double axial rake senses Device can the pitching of more accurate feedback aerodone and rolling information, hydraulic pressure gauge directly feeds back the depth information of aerodone, uses machine Tool formula double-shaft tilt angle sensor and hydraulic pressure gauge are directly measured for three axis accelerometer feedback fraction key message, the most permissible The information that triaxial accelerometer feedback can be difficult to directly test again by the precision that raising navigation controls is modified, and slave computer will The various kinds of sensors feedback data of aerodone is stored in data storage card；

Described telecommunication system is mainly made up of, when aerodone floats up to sea satellite communication equipment, GPS location equipment Slave computer to host computer transmission data and can accept control instruction by satellite communication equipment, and GPS location equipment is used for positioning And navigation, not only can calibrate aerodone navigation direction but also the recovery of aerodone can be facilitated.

Beneficial effect

The present invention proposes a kind of high motor-driven underwater glider, including aerodone total arrangement, gravity governor motion, center of gravity Governor motion, high motor-driven propulsion system, control system and telecommunication system, normal condition aerodone is operated in low-power consumption, low The cruise motor pattern of noise, emergency is permissible by the high motor-driven propulsion system of system coordination and center of gravity regulation system aerodone High-speed motion or the arbitrarily radius of gyration are motor-driven；By three axis accelerometer, hydraulic pressure gauge, dual axis mechanical obliquity sensor and GPS Positional information, attitude information and the kinematic parameter of aerodone Partial key is used different method of testing retests, result phase Verification is favorably improved the navigation accuracy of aerodone mutually.

Owing to adding under the motor pattern of tradition underwater glider at a high speed and high motion of automobile pattern, can effectively open up Open up its application, improve its survival ability.The present invention can effectively obstacle avoidance, undercurrent in marine exploration field；In military affairs Field not only possesses the characteristic of long-term dormancy, and can escape with Precise strike or rapidly crucial moment.

Mechanism of the present invention is simple, easily realizes or transforms existing aerodone, it is provided that a kind of new type water glides The mentality of designing of Xiang machine, for extension aerodone application, improve the survival ability of aerodone, improve the performance of aerodone There is remarkable effect.

Accompanying drawing explanation

Fig. 1: high motor sailplane total arrangement front view；

Fig. 2: high motor sailplane layout axial view；

Fig. 3: high motor sailplane total arrangement side view；

Fig. 4: gravity governor motion；

Fig. 5: propeller structure figure

Fig. 6: head spherical shell is afterbody ellipsoid shell structure figure

Fig. 7: the power stream of high motor sailplane and signal flow diagram

In figure: 1. head spherical shell 2. first end plate 3. cylindrical shell 4. first wing plate 5. first propeller 6. second End plate 7. water proof switch 8. afterbody ellipsoid shell 9. tail plate 10. charging inlet 11. second propeller 12. second wing plate 13. first weighted rod 15. membrane pump 16. second water storage cabin 17. second, water storage cabin 14. first weighted rod 18. center of gravity regulations Block 19. accumulator 20. first installing plate 21. satellite communication device 22. lower computer system 23.GPS locating module 24. continues Electrical equipment group 25. direct current generator propeller 26. first shaft coupling 27. second installing plate 28. motor 29. 3 axle accelerates Degree meter 30. hydraulic pressure gauge 31. motor pusher 32. dual axis mechanical obliquity sensor 34. ball-screws 33. second Balancing weight 35. mounting platform 36. first balancing weight 37. deep groove ball bearing 38. import/exhaust pipe 39. enters/drain pipe 40. Electromagnetic switch valve 41. solenoid directional control valve 42. motor room 43. direct current generator 44. second shaft coupling 45. propeller shaft 46.O Type circle 47. motor hatchcover 48. axle sleeve 49. propeller 50. fabrication hole 51. permeable hole 52. installing hole 53. host computer 54. first power module 55. second source modules

Detailed description of the invention

The present embodiment is a kind of high motor-driven underwater glider.

Refering to Fig. 1～Fig. 7, the high motor-driven underwater glider of the present embodiment one is by head spherical shell the 1, first end plate 2, cylindrical shell Body the 3, first wing plate the 4, first propeller the 5, second end plate 6, water proof switch 7, afterbody ellipsoid shell 8, tail plate 9, charging inlet 10, Second propeller the 11, second wing plate the 12, first water storage cabin the 13, first weighted rod 14, membrane pump the 15, second water storage cabin 16, second Weighted rod 17, center of gravity regulating block 18, accumulator the 19, first installing plate 20, satellite communication device 21, lower computer system 22, GPS are fixed Position module 23, relay group 24, DC motor driver the 25, first shaft coupling the 26, second installing plate 27, motor 28, three Axis accelerometer 29, hydraulic pressure gauge 30, stepper motor driver 31, dual axis mechanical obliquity sensor the 32, second balancing weight 33, rolling Ballscrew 34, mounting platform the 35, first balancing weight 36, deep groove ball bearing 37, import/exhaust pipe 38, enter/drain pipe 39, electromagnetism open Close valve 40, solenoid directional control valve 41 forms；First end plate 2 and cylindrical shell the 3, second end plate 6 need sealing with cylindrical shell 3 etc. Mounting O-shaped rings at cooperation, what three was formed closes the main cabin as aerodone, the space；Head spherical shell 1 and afterbody ellipsoid shell 8 are equal Have installing hole 52, fabrication hole 50 and permeable hole 51, be only used as associate member and be separately fixed at the first end plate 2 He by installing hole 52 Keep the fluid dynamic profile of aerodone on second end plate 6, displacement is not provided；Fabrication hole 50 and the position one of installing hole 52 One is corresponding, the convenient use fixing screw of screwdriver dismounting.

Refering to Fig. 1, first wing plate the 4, second wing plate 12 is fixed on cylindrical shell 3 by dormant bolt, forms aerodone Main body；Tail plate 9 is connected with afterbody ellipsoid shell 8, is fixed on the second end plate 6 by screw；First wing plate the 4, second wing plate 12 and Tail plate 9 provides the fluid dynamic glided forward, empennage 9 can increase glide in aerodone bows dive and new line floating-upward process The static stability of machine, is unlikely to when the big angle of attack or strong ocean current unstability；First propeller 5 and the second propeller 11 are pacified respectively It is contained in outside the centre of form of the first wing plate 4 and the second wing plate 12, can be that aerodone provides bigger moment when motor-driven；First advances Device 5 and the second propeller 11 are respectively adopted positive oar and anti-oar, and rotating speed both during propelled at high velocity is contrary, and rolling moment cancels each other.

Refering to Fig. 2 and Fig. 3, the first equal position of the 16, second weighted rod 17, the 13, first weighted rod the 14, second water storage cabin, water storage cabin In the middle of the first installing plate 20 and the second installing plate 27, and it is fixed by screws in together.First balancing weight 36 and second is joined Pouring weight 33 uses linear cutter to form, cambered surface and cylindrical shell 3 no-float.First balancing weight 36 is used with the first installing plate 20 Screw is connected, and its upper stage is used for laying accumulator；Second balancing weight 33 is fixed by screw, on it with the second installing plate 27 Fang Pingtai is used for fixing three axis accelerometer 29, stepper motor driver 31, dual axis mechanical obliquity sensor 32.Mounting platform 35 are fixed on the first water storage cabin 13 and the second water storage cabin 16, are used for installing lower computer system 22, relay group 24, unidirectional current Machine driver 25, membrane pump 15.Motor 28 is fixed on the second installing plate 27 by screw, and the first installing plate 20 is stepping Deep groove ball bearing 37 is installed in the position of motor 28 correspondence, and ball-screw 34 one end is by the axle phase of shaft coupling 26 with motor 28 Even, the other end is supported by deep groove ball bearing 37.By first installing plate the 20, second installing plate 27 and mounting platform 35 by aerodone Most of core component integrate, reduce aerodone assembling and maintenance difficulty.In order in order to be effective, satellite communication System 21 and GPS locating module 23 is fixed on the highest point in cylindrical shell 3；Install for convenience and hydraulic pressure test, hydraulic pressure gauge 30 are installed on the second end plate 6, the hydraulic pressure in feedback afterbody ellipsoid shell 8, it is considered to the aerodone speed of a ship or plane is relatively low, and has afterbody ellipsoid shell 8 Water conservancy diversion about, test result can reflect keel depth substantially.

Refering to Fig. 4, import/exhaust pipeline 38 leads to the higher position within cylindrical shell, enters/discharge pipe line 39 and outside sea water Connection；When aerodone needs dive, it is first adjusted to nose-down attitude, then solenoid directional control valve 41 is switched to into water station and open Open electromagnetic switch valve 40 and membrane pump 15 toward water filling in water storage cabin；When aerodone needs to float, it is first adjusted to cocked-up attitude, so After solenoid directional control valve 41 switched to draining station and opens electromagnetic switch valve 40 and membrane pump 15 draining outward.Enter/draining knot Shu Hou, closes solenoid directional control valve 40 and membrane pump 15, owing to membrane pump 15 has self-enclosed property, enter/discharge pipe line 29 need not join Put switch valve.

Refering to Fig. 5, the first propeller 5 is identical with the second propeller 11 structure by motor room 42, direct current generator 43, second Shaft coupling 44, propeller shaft 45, O 46, motor hatchcover 47, axle sleeve 48, propeller 49 are constituted.Motor room 42 is solid by screw Under wing plate 4,12, motor hatchcover 47 and motor room 42 form confined space, mounting O-shaped rings 46 at cooperation；Motor hatchcover 47 one end design direct current generator 42 mounting flanges, motor hatchcover 47 other end perforate and axle sleeve 48 interference fits, it is coated with close at cooperation Sealing；Axle sleeve 48 built-in bearing, support helix oar axle 45, in axle sleeve 48, perfusion lithium saponify not only can lubricate but also can be waterproof；Gu Being connected with the axle of direct current generator 43 by the second shaft coupling 44 due to propeller shaft 45 1 sections, the other end is connected with propeller 49.

Refering to Fig. 7, electric current out first passes around water proof switch 7 from accumulator 19, through the first power module 54 pressure regulation it After position equipment 23, dual axis mechanical obliquity sensor 32, three axle directly to lower computer system 22, satellite communication device 21, GPS Accelerometer 29, hydraulic pressure gauge 30 are powered, and are connected with relay group after second source module 55 pressure regulation；Lower computer system 22 Membrane pump 15, DC motor driver 25, stepper motor driver 31, electromagnetic switch valve 40, electricity is controlled by relay group 24 The circuit of magnetic reversal valve 41；Pass by completing instruction and data between satellite communication device 21 lower computer system 22 and host computer 55 Defeated, lower computer system positions equipment 23, dual axis mechanical obliquity sensor 32, three axis accelerometer 29, hydraulic pressure gauge 30 according to GPS Feedback information calculate self aeronautical data, and accordingly to relay group 24, DC motor driver 25, step motor drive Device 31, electromagnetic switch valve 40, solenoid directional control valve 41 send control signal；DC motor driver 25 according to control signal to two Direct current generator 43 carries out stepless speed regulation control, it is achieved the motor-driven navigation of height of aerodone.

Claims (6)

1. a high motor-driven underwater glider, including aerodone total arrangement, gravity governor motion, gravity center adjusting mechanism, high machine Dynamic propulsion system, control system and telecommunication system, at interior underwater glider kernel subsystems, is characterized in that: described glide Center of gravity regulation in machine matches with gravity regulation realization routine gliding, and propelled at high velocity system matches with control system reality The existing high motion of automobile, aerodone can be with control centre's communication by telecommunication system after floating up to sea, glide owner Low-power consumption glide cruise mode to be operated in, it may be necessary to start the high maneuver model of high speed.

The high motor-driven underwater glider of one the most according to claim 1, is characterized in that: aerodone total arrangement is by head ball The group such as shell, front and back end plate, cylindrical shell, glide wing plate, propeller, afterbody ellipsoid shell, tail plate, water proof switch, charging inlet Become；Front and back what end plate and cylindrical shell were constituted closes the main cabin that space is aerodone, coordinates face to use O radial seal； Spherical shell is individually fixed in before and after's end plate end to end, and surface has permeable hole and fabrication hole, be only used for position main body streamlined not Displacement is provided；Water proof switch and charge port, all in being exposed to afterbody ellipsoid shell, can be turned on and off sliding by permeable hole Xiang machine main power and aerodone continue energy.

The high motor-driven underwater glider of one the most according to claim 1, is characterized in that: high motor-driven propulsion system is straight by two The forward-reverse spiral oar of stream driven by motor is constituted, the rolling moment not produced when propelled at high velocity；Use 1 two-way driver drives 2 direct current generators, host computer carries out stepless speed regulation by driver to motor；By control motor rotating speed and turn to, sliding Xiang machine can realize the motion of automobile of any radius of gyration.

The high motor-driven underwater glider of one the most according to claim 1, is characterized in that: by the first installing plate and the second peace Most for aerodone control parts, execution unit, test component and control parts are connected in integrally and can be whole by dress plate Body moves or takes out；By the regulation fine-tuning end plate of bolt and the spacing of balancing weight, and then move integrally aerodone internal junction Structure, to change the original center of gravity position of aerodone.

The high motor-driven underwater glider of one the most according to claim 1, is characterized in that: gravity governor motion by water storage cabin, Membrane pump, solenoid directional control valve, electromagnetic switch and valve, enter/discharge pipe line and import/exhaust pipeline composition；Nose-down attitude, electromagnetic switch Vavle switching, to station of intaking, opens electromagnetic switch valve and membrane pump toward water filling in water storage cabin；Cocked-up attitude, electromagnetic switch Vavle switching To draining station and open electromagnetic switch valve, open electromagnetic switch valve and membrane pump draining outward；Enter/after draining terminates, close Solenoid directional control valve and membrane pump, can be prevented effectively from the leakage in water storage cabin.

The high motor-driven underwater glider of one the most according to claim 1, is characterized in that: power stream from accumulator via electricity The pressure regulation of source module and voltage stabilizing are transmitted to each power-consuming component, and water proof switch controls lower computer system, satellite communication device and sensor Connecting and disconnecting of the circuit, lower computer system by relay group control other parts such as water pump, motor connecting and disconnecting of the circuit；Control signal stream Transmission with lower computer system as core, accepted the instruction of host computer by satellite communication device, believe according to each sensor feedback Cease and control each execution unit by relay group and then realize navigation control.