CN101596931A - A kind of triple helical oar is the method for vector propelling initiatively - Google Patents
A kind of triple helical oar is the method for vector propelling initiatively Download PDFInfo
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- CN101596931A CN101596931A CNA2009100437648A CN200910043764A CN101596931A CN 101596931 A CN101596931 A CN 101596931A CN A2009100437648 A CNA2009100437648 A CN A2009100437648A CN 200910043764 A CN200910043764 A CN 200910043764A CN 101596931 A CN101596931 A CN 101596931A
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Abstract
A kind of triple helical oar of the present invention initiatively method that advances of vector is following step: (1) on the aircraft carrier (1), installs initiatively vector propellers of three cover screw propellers under water.Wherein first screw propeller active vector propeller (2) and second screw propeller active vector propeller (3) left and right symmetrically is installed in the both wings of submarine navigation device carrier (1).Triple helical oar active vector propeller (4) is installed in the tail of submarine navigation device carrier (1).(2) by to above-mentioned three cover screw propellers initiatively vector propellers control realize the advancing of submarine navigation device, retreat, turn, come-up, dive, driftage, pitching, underwater hovering, lateral translation, controlled roll.The present invention has simplified the propulsion system of submarine navigation device greatly, has very strong portability and practicality.And simple in structure, profile is smooth, reduced cost.
Description
Technical field
The present invention relates to a kind of propulsion method of submarine navigation device, especially a kind of triple helical oar is the vector propulsion method initiatively.
Background technology
At present, the propulsion mode of the submarine navigation device of the domestic and international development of comparative maturity generally all is to adopt a plurality of screw propellers to carry out Collaborative Control, obtains the manipulation force of carrier and controls moment, realize submarine navigation device such as advance, retreat, maneuver such as turning.If the expectation submarine navigation device is realized maneuvers such as come-up, dive, pitching, then need to increase and control rudder or propeller plant.And dispose propeller too much or rudder is controlled in introducing, when improving carrier navigation maneuverability, will increase running resistance.And the screw propeller of the aircraft that has may become the resistance and even the obstacle of navigation when not using, thereby the complexity of system improved greatly and whole reliability greatly reduces.
Summary of the invention
The technical problem to be solved in the present invention is: at the deficiency of prior art existence, the initiatively method of vector propelling of a kind of triple helical oar is provided, use this method can make submarine navigation device not only can advance, retreat, turn, can also come-up, dive, pitching, move freely and do not need to increase and control rudder.
Technical solution of the present invention is, described this triple helical oar is the method that advances of vector initiatively, is the function utilizing organic cooperation of the multi-faceted active vector propulsive force of three screw propellers to substitute the to control rudder various maneuvers with the realization submarine navigation device.Promptly be to follow following step:
1, under water on the aircraft carrier 1, installation comprises three cover screw propellers active vector propellers of as shown in Figure 1 first screw propeller active vector propeller 2, second screw propeller active vector propeller 3 and triple helical oar active vector propeller 4, wherein said first screw propeller active vector propeller 2 and second screw propeller active vector propeller, 3 left and right symmetricallies are installed in the both wings of described submarine navigation device carrier 1 respectively, and described triple helical oar active vector propeller 4 is installed in the tail of described submarine navigation device carrier 1.Described this three covers screw propeller is the screw propeller 7 of vector propeller initiatively, referring to Fig. 2, all towards the tail direction;
2, by to above-mentioned three cover screw propellers initiatively vector propellers collaborative control realize the advancing of submarine navigation device, retreat, turn, come-up, dive, driftage be (referring to Fig. 3.), pitching is (referring to Fig. 4.), underwater hovering is (referring to Fig. 5.), lateral translation is (referring to Fig. 6.), controlled roll is (referring to Fig. 7.) wait various maneuvers.
A kind of triple helical oar of the present invention is the vector propulsion method initiatively, referring to Fig. 1～2, utilize as above-mentioned system to be installed in the initiatively organic cooperation of the multi-faceted active vector propulsive force of a plurality of screw propellers of vector propulsion device of the cover of three on the submarine navigation device carrier 1 screw propeller, substitute control rudder function to realize the various maneuvers of submarine navigation device.If the hand of rotation of the screw propeller 7 that is adopted is dextrorotation, and defines it and produce propulsive force to point to hand of rotation of propulsion source 5 be forward.With the carrier geometric centre is initial point o, and crossing o point is the x axle along the carrier working direction, and mistake o point and be the z axle is straight up determined the y axle by right-hand rule, sets up rectangular coordinate system oxyz.First screw propeller active vector propeller 2 and second screw propeller active vector propeller 3 are installed on the submarine navigation device carrier 1 front part sides wing symmetrically, make the pivot shaft 6 of screw propeller 7 parallel with the ox direction under the situation of stretching, screw propeller 7 is installed towards tail.Triple helical oar initiatively vector propeller 4 is installed in submarine navigation device carrier 1 afterbody midway location, makes its pivot shaft 6 parallel with the ox direction under the situation of stretching, and is in sustained height with preceding two cover propelling units, and screw propeller 7 is also towards the tail direction.Then produce with ox direction identical or opposite propulsive force if control screw propeller 7 forwards or contrarotation this moment, finishes the maneuver that submarine navigation device advances or retreats.
The above-mentioned screw propeller that the present invention uses is the vector propeller device initiatively, referring to Fig. 2, why can make submarine navigation device be competent at above-mentioned various maneuvers, is because its screw propeller 7 can be around its pivot shaft 6 beat in spatial dimension under the driving of propulsion source 5., can also keep under this attitude after a certain attitude in space at the screw propeller beat, thereby produce the vector propulsive force that size and direction in space all can change, finish the function of a plurality of screw propeller coordinated around self axis rotation.This screw propeller active of at least three covers vector propulsion device is installed on the submarine navigation device, wherein two cover left and right symmetricallies are installed in its forward place of both sides wing, one cover is installed in the vertical plane of symmetry of its afterbody place, by controlling this initiatively collaborative propelling of vector propulsion device of three covers screw propeller, finish the maneuver of the above-mentioned various complexity of submarine navigation device carrier, thereby satisfy of the requirement of underwater complex environment the motor-driven navigation ability of submarine navigation device.
When the present invention uses, referring to Fig. 3, desire realizes that submarine navigation device is to left drift, initiatively vector propeller 2 is identical with the ox direction with the pivot shaft 6 of second screw propeller active vector propeller 3 to keep first screw propeller, control the triple helical oar initiatively the pivot shaft 6 of vector propeller 4 in the xoy plane to oy axle positive deflection, control screw propeller 7 rotations simultaneously, can produce forward yawing moment along the oz axle.In addition, the pivot shaft 6 that can also control triple helical oar vector propeller 4 in the xoy plane to oy axle positive deflection, control first screw propeller initiatively vector propeller 2 and second screw propeller initiatively vector propeller propelling unit 3 pivot shaft 6 simultaneously in the xoy plane to the deflection of oy axle negative sense, produce bigger yawing moment, finish rapid driftage left; Desire realizes that submarine navigation device goes off course to the right, then control pivot shaft 6 in the xoy plane to the deflection of oy axle negative sense; And desire realizes the submarine navigation device pivot turn, only need anti-phase the controlling of deflecting direction with the deflecting direction and second screw propeller active vector propeller 3 of first screw propeller active vector propeller 2, the hand of rotation of anti-phase adjustment screw propeller 7 makes it produce reversal interlocking relay and gets final product simultaneously.
Referring to Fig. 4, desire realizes the submarine navigation device dive, can keep first screw propeller initiatively vector propeller 2 and second screw propeller initiatively the pivot shaft 6 of vector propeller 3 is identical with the ox direction, the pivot shaft 6 of controlling triple helical oar active vector propeller 4 then in the xoz plane to the deflection of oz axle negative sense.Control screw propeller 7 rotations simultaneously, promptly can produce along the pitching moment of oy axle forward.In addition, the pivot shaft 6 that also can control the first screw propeller vector propeller 2 and the second screw propeller vector propeller 3 simultaneously in the xoz plane to oz axle positive deflection, control the triple helical oar initiatively the pivot shaft 6 of vector propeller 4 in the xoz plane to the deflection of oz axle negative sense, produce bigger pitching moment, finish the maneuver of rapid dive; And desire realizes the submarine navigation device come-up, only needs the anti-phase deflecting direction of controlling all pivot shafts 6 to get final product.
Referring to Fig. 5, when desire realizes that a certain degree of depth of submarine navigation device is hovered under water, can control simultaneously three cover screw propellers initiatively the pivot shaft 6 of vector propellers in the xoz plane to the negative sense deflection of oz axle, can make that the axis of screw propeller 7 self is parallel with oz, controlling screw propeller 7 then rotates under this attitude, produce thrust upwards, can overcome the difference of submarine navigation device self gravitation and buoyancy, realize hovering.In addition, can also control simultaneously three cover screw propellers initiatively the pivot shaft 6 of vector propellers in the xoz plane to the positive deflection of oz axle, thereby make that the axis and the oz of screw propeller 7 self are antiparallel, control screw propeller 7 contrarotation under this attitude then, produce pulling force upwards, it is poor to overcome submarine navigation device self gravitation and buoyancy, realizes hovering.Come therefrom, under this kind state, control the initiatively screw propeller 7 of vector propeller of three cover screw propellers respectively, also can realize the vertical lift under water of submarine navigation device as different rotating speeds.
Referring to Fig. 6, desire realizes that submarine navigation device is under water left during lateral translation, can control simultaneously three cover screw propellers initiatively the pivot shaft 6 of vector propellers to deflect to the axis of screw propeller 7 to the negative sense of oy axle in the xoy plane parallel with oy, control then three cover screw propellers initiatively the pivot shaft 6 of vector propellers in the yoz plane to oz axle negative sense deflection certain angle, control screw propeller 7 and be created in the propulsive force that forms an angle with oy axle forward in the yoz plane, this propulsive force overcome the submarine navigation device self gravitation on the one hand and buoyancy poor, promoting submarine navigation device on the other hand is left that the oy forward moves; When desire realizes submarine navigation device under water to the right during lateral translation, control method is similar, and just initiatively the deflecting direction of pivot shaft 6 in the xoy plane of vector propellers is opposite for three cover screw propellers, and other deflecting direction is identical.
Referring to Fig. 7, desire realize submarine navigation device in advancing when the roll of ox axle forward, can control this moment first screw propeller initiatively vector propeller 2 in the xoz plane back to the deflection of oz axle negative sense, control simultaneously two screw propellers initiatively vector propeller 3 in the xoz plane to oz axle positive deflection.Keep the axis of the pivot shaft 6 of triple helical oar active vector propeller 4 to overlap with ox axle forward.The screw propeller of controlling in the three cover screw propellers active vector propellers 7 is rotated in the forward, then first screw propeller initiatively vector propeller 2 and second screw propeller initiatively the thrust that produces of vector propeller 3 will provide a roll couple to aircraft under water around ox axle forward, make it produce roll motion, the thrust that triple helical oar active vector propeller 4 then provides submarine navigation device to advance.
The invention has the beneficial effects as follows: method of the present invention is compared with the collaborative propulsion method of existing screw propeller, has simplified the propulsion system of submarine navigation device greatly, has very strong portability and practicality.Its advantage is:
(1), the employing number of propeller may be as few as three the various conventional maneuvers that can realize submarine navigation device, greatly reduces cost;
(2), make maneuver that present submarine navigation device almost can't finish as hover under water, lateral translation, controlled roll etc. be accomplished;
(3), need not configuration and control rudder or fin, make that submarine navigation device is simple in structure, profile is smooth and make fluid resistance greatly reduce.
Description of drawings:
Fig. 1 is the running condition reference diagram of the invention process in the submarine navigation device carrier;
Fig. 2 is the initiatively structural representation of vector propeller of screw propeller;
Running condition reference diagram when Fig. 3 is enforcement method realization of the present invention yaw maneuver;
Running condition reference diagram when Fig. 4 is enforcement method realization of the present invention pitching action;
Running condition reference diagram when Fig. 5 is the action of enforcement method realization of the present invention underwater hovering;
Running condition reference diagram when Fig. 6 is the action of enforcement method realization of the present invention lateral translation;
Fig. 7 is the running condition reference diagram when implementing method of the present invention and realizing controlled roll action.
Being denoted as in above Fig. 1～7:
1-submarine navigation device carrier,
2-first screw propeller is vector propeller initiatively,
3-second screw propeller is vector propeller initiatively,
4-triple helical oar is vector propeller initiatively,
The 5-propulsion source,
The 6-pivot shaft,
The 7-screw propeller.
The specific embodiment:
Referring to Fig. 1～2, in the present embodiment, it is LT-310 type screw propeller active vector propeller that used first screw propeller active vector propeller 2, second screw propeller active vector propeller 3 and the triple helical oar active vector propeller 4 three cover screw propellers active vector propulsion devices that are installed on the submarine navigation device carrier 1 of triple helical oar active vector propulsion method of the present invention all adopt the model of independent research, and this angle of rake screw propeller adopts commercially available LS-511 type screw propeller.If the above-mentioned screw propeller initiatively hand of rotation of the screw propeller 7 of vector propeller is dextrorotation, and defines it and produce propulsive force to point to hand of rotation of propulsion source 5 be forward.Geometric centre with submarine navigation device carrier 1 is made as initial point o, and crossing o point is the x axle along the carrier working direction, and mistake o point and be the z axle is straight up determined the y axle by right-hand rule, sets up rectangular coordinate system oxyz.First screw propeller active vector propeller 2 and second screw propeller active vector propeller 3 are installed on the submarine navigation device carrier 1 front part sides wing symmetrically, make the pivot shaft 6 of screw propeller 7 parallel with the ox direction under the situation of stretching, screw propeller 7 is installed towards tail.Triple helical oar initiatively vector propeller 4 is installed in submarine navigation device carrier 1 afterbody midway location, makes its pivot shaft 6 parallel with the ox direction under the situation of stretching, and is in sustained height with preceding two cover propelling units, and screw propeller 7 is also towards the tail direction.
The of the present invention this triple helical oar of the said structure initiatively method warp of vector propelling is tested in many places, is proved to be respond well, reaches designing requirement fully.
Claims (1)
1, the method for a kind of triple helical oar active vector propelling, this method is following step:
(1), under water on the aircraft carrier (1), installation comprises initiatively vector propeller (2) of first screw propeller, second screw propeller active vector propeller (3) and triple helical oar active vector propeller (4) are at three interior cover screw propellers active vector propellers, wherein said first screw propeller active vector propeller (2) and second screw propeller active vector propeller (3) left and right symmetrically are installed in the both wings of described submarine navigation device carrier (1) respectively, described triple helical oar active vector propeller (4) is installed in the tail of described submarine navigation device carrier (1), and the screw propeller (7) of described this three covers screw propeller active vector propeller is all towards the tail direction;
(2), by to above-mentioned three cover screw propellers initiatively vector propellers control realize the advancing of submarine navigation device, retreat, turn, come-up, dive, driftage, pitching, underwater hovering, lateral translation, controlled roll.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2009100437648A CN101596931A (en) | 2009-06-26 | 2009-06-26 | A kind of triple helical oar is the method for vector propelling initiatively |
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| CNA2009100437648A CN101596931A (en) | 2009-06-26 | 2009-06-26 | A kind of triple helical oar is the method for vector propelling initiatively |
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Cited By (16)
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| CN103318283A (en) * | 2012-06-16 | 2013-09-25 | 摩尔动力(北京)技术股份有限公司 | Solid face walking device |
| CN104369849A (en) * | 2014-10-30 | 2015-02-25 | 江苏科技大学 | Tilt rotor submersible device |
| CN104656445A (en) * | 2015-01-16 | 2015-05-27 | 西北工业大学 | Resistance effect compensation method in hybrid suspension environment |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
| CN107264752A (en) * | 2017-06-23 | 2017-10-20 | 上海交通大学 | A kind of quadruple screw propeller promote without rudder autonomous underwater vehicle under water |
| CN107531317A (en) * | 2015-03-03 | 2018-01-02 | 麻省理工学院 | Submarine navigation device designs and control method |
| CN107933894A (en) * | 2016-10-13 | 2018-04-20 | 赵蓝婷 | A kind of devices and methods therefor for improving aircraft flight safety |
| CN109229312A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
| CN110780303A (en) * | 2019-10-23 | 2020-02-11 | 哈尔滨工程大学 | Parametric array ice layer profile detection underwater robot and ice layer profile detection method |
| CN111572735A (en) * | 2020-05-14 | 2020-08-25 | 中国石油大学(北京) | Underwater robot |
| CN112591058A (en) * | 2020-12-15 | 2021-04-02 | 西北工业大学 | Chained double-section vector propulsion underwater vehicle |
| CN112977775A (en) * | 2021-01-29 | 2021-06-18 | 鹏城实验室 | Underwater vehicle and control method thereof |
| CN113757484A (en) * | 2021-08-06 | 2021-12-07 | 杨昺崧 | Portable pipeline inspection robot |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
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2009
- 2009-06-26 CN CNA2009100437648A patent/CN101596931A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103318283A (en) * | 2012-06-16 | 2013-09-25 | 摩尔动力(北京)技术股份有限公司 | Solid face walking device |
| CN104369849A (en) * | 2014-10-30 | 2015-02-25 | 江苏科技大学 | Tilt rotor submersible device |
| CN104656445A (en) * | 2015-01-16 | 2015-05-27 | 西北工业大学 | Resistance effect compensation method in hybrid suspension environment |
| CN104656445B (en) * | 2015-01-16 | 2017-04-19 | 西北工业大学 | Resistance effect compensation method in hybrid suspension environment |
| CN107531317A (en) * | 2015-03-03 | 2018-01-02 | 麻省理工学院 | Submarine navigation device designs and control method |
| CN107933894A (en) * | 2016-10-13 | 2018-04-20 | 赵蓝婷 | A kind of devices and methods therefor for improving aircraft flight safety |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
| CN106882347B (en) * | 2017-02-27 | 2019-01-25 | 中国人民解放军海军工程大学 | Underwater robot with six degrees of freedom |
| CN107264752A (en) * | 2017-06-23 | 2017-10-20 | 上海交通大学 | A kind of quadruple screw propeller promote without rudder autonomous underwater vehicle under water |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN109229312A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN110304224A (en) * | 2019-04-15 | 2019-10-08 | 清华大学 | Side pushes away submariner device and submariner method |
| CN110780303A (en) * | 2019-10-23 | 2020-02-11 | 哈尔滨工程大学 | Parametric array ice layer profile detection underwater robot and ice layer profile detection method |
| CN111572735A (en) * | 2020-05-14 | 2020-08-25 | 中国石油大学(北京) | Underwater robot |
| CN112591058A (en) * | 2020-12-15 | 2021-04-02 | 西北工业大学 | Chained double-section vector propulsion underwater vehicle |
| CN112977775A (en) * | 2021-01-29 | 2021-06-18 | 鹏城实验室 | Underwater vehicle and control method thereof |
| CN113757484A (en) * | 2021-08-06 | 2021-12-07 | 杨昺崧 | Portable pipeline inspection robot |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
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Open date: 20091209 |