CN102627138B - Controlled hydrofoil hydroplane and control method thereof - Google Patents
Controlled hydrofoil hydroplane and control method thereof Download PDFInfo
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- CN102627138B CN102627138B CN201210111448.1A CN201210111448A CN102627138B CN 102627138 B CN102627138 B CN 102627138B CN 201210111448 A CN201210111448 A CN 201210111448A CN 102627138 B CN102627138 B CN 102627138B
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Abstract
本发明公开一种可控水翼滑行艇及其控制方法，在两侧艇舷上各设置一个凹槽轨道，在凹槽轨道内设置液压传动装置，液压推杆的顶端固定连接水翼系统；水密盒位于凹槽轨道内并可沿纵向来回滑动，液压推杆的顶端固定连接水密盒；水密盒内设有电动机，电动机的输出轴垂直于艇舷并伸出凹槽轨道外且固定连接水翼；由中央处理器发出指令控制电动机带动水翼旋转到与水平面成呈最佳变攻角α，控制液压控制系统使液压推杆推动水翼移动获得力矩，能高精度控制滑行艇的升沉、纵摇、横摇、侧移、回转、急停、减速等，改善航行性能。
The invention discloses a controllable hydrofoil planing boat and a control method thereof. A grooved track is arranged on both sides of the boat, a hydraulic transmission device is arranged in the grooved track, and the top of the hydraulic push rod is fixedly connected to the hydrofoil system; The watertight box is located in the groove track and can slide back and forth in the longitudinal direction. The top of the hydraulic push rod is fixedly connected to the watertight box; the watertight box is equipped with a motor, and the output shaft of the motor is perpendicular to the boat side and extends out of the groove track and is fixedly connected to the watertight box. Wing: The central processor issues instructions to control the motor to drive the hydrofoil to rotate to the best angle of attack α with the horizontal plane, and control the hydraulic control system to make the hydraulic push rod push the hydrofoil to move to obtain torque, which can control the heave of the planing boat with high precision , pitch, roll, side shift, slewing, emergency stop, deceleration, etc., to improve navigation performance.
Description
Technical field
The invention belongs to boat manufacturing technology field, be specially a kind of hydrofoil glider.
Background technology
Glider has excellent hydrodynamics characteristic, is widely used in minitype ship, as guard boat, the ship of fishing, service-boat, ambulance boat and sports ship etc.When glider is during in sliding state, the structure of glider tail bottom provides dynamic lift as main planing surface, and lifting hull reduces wetted surface area, and friction drag reduces, and the speed of a ship or plane obtains corresponding increase.Therefore a lot of gliders therein rear portion increase attached body to increase planing surface, increase dynamic lift.Because hull lifts, thereby glider hull and water surface area of contact diminish and cause the navigability of glider poor.
In order to improve the navigation performance of glider, Chinese Patent Application No. is 200910063716.5, name is called " a kind of glider that is provided with march-past lifting board device ", its lift plate is fixed on hull, can solve middle part produces at the bottom of ship negative pressure and the problem of sea chest water inlet, reduce running resistance, the speed of a ship or plane is effectively improved.China Patent No. is that ZL 89202475.5, name are called " hydroplane with aquaboards ", in hull bottom, be installed with two surfboards, between surfboard and hull, with shock absorption device, be connected, when running at high speed, can greatly reduce resistance, improve moving velocity, during turning, be difficult for tumbling.Chinese Patent Application No. is 200910190216.8, name is called " three-controllable hydrofoil displacement boat ", the shallow auxiliary hydrofoil that soaks main wing and ship bow with ship tail, the auxiliary hydrofoil of ship bow has been assisted sliding, the main wing of ship tail is realized the adjustment of glider navigation attitude, can only realize the change angle of attack, the synergy of controlling two main wings and an auxiliary hydrofoil by hydraulic control system realizes the glider navigation adjustment of attitude and the improvement of exercise performance.Above-mentioned three public technologies all can only improve one or several in glider performance, and the external equipment increasing is fixed type, cannot realize the control to ship motion attitude, and its range of control and control accuracy are all restricted.
Summary of the invention
The range of control and the control accuracy that the object of the invention is navigation performance for further improving glider, promote glider attendant equipment provide a kind of controllable hydrofoil displacement boat, the present invention also provides the control method of this controllable hydrofoil displacement boat simultaneously, realize glider hang down swing, pitching, rolling, sidesway, revolution, anxious stopping and the control of deceleration.
The technical scheme that controllable hydrofoil displacement boat of the present invention adopts is: comprise hull, the horizontal left and right sides of hull is the ship side of a ship, a grooved tracks is respectively set on the ship side of a ship of both sides, two grooved tracks are symmetrical, and grooved tracks is the center of gravity of the ship side of a ship along longitudinal layout of hull and the center of grooved tracks; Hydraulic actuator is set in grooved tracks, and hydraulic actuator has hydraulic push rod, and the top of hydraulic push rod is fixedly connected with hydrofoil system; Hydrofoil system comprises hydrofoil, electrical motor and airtight watertight box, and watertight box is positioned at grooved tracks and can longitudinally slidably reciprocates, and the top of hydraulic push rod is fixedly connected with watertight box; In watertight box, be provided with electrical motor, the output shaft of electrical motor is perpendicular to the ship side of a ship and to stretch out grooved tracks outer and be fixedly connected with hydrofoil; Grooved tracks outside is provided with central process unit and the hydraulic control system being connected with hydraulic actuator, and hydraulic control system is connected respectively central process unit with electrical motor.
The technical scheme that the control method of controllable hydrofoil displacement boat of the present invention adopts has following steps: A, before glider sliding state, central process unit sends instruction and controls electrical motor and drive hydrofoil to rotate to become best change angle of attack with horizontal surface, central process unit is controlled hydraulic control system simultaneously makes the hydraulic push rod promotion hydrofoil in hydraulic actuator move acquisition moment to stem direction, makes glider lift head; B, when glider sliding state, hydrofoil moves near center-of-gravity position, makes to become angle of attack and horizontal plane angle and approaches 0 degree; C, after glider sliding state, regulate the position of hydrofoil in grooved tracks and become angle of attack with opposing external load; D, when glider is anxious when stopping and slowing down, the change angle of attack of adjusting hydrofoil becomes 90 degree angles; E, when glider turns round, regulate the change angle of attack of a side hydrofoil to produce larger resistance, regulate the change angle of attack of an other side hydrofoil to produce compared with slight drag, produce a moment of gyration.
Compare with glider with existing hydrofoil boat, the invention has the advantages that:
1, the present invention is by hydrofoil any angle of attack location and along the collaborative work of glider longitudinal movement in rotational plane, can be in two degree of freedom free motion and location, expanded the modification scope of hydrofoil, give full play to the alerting ability of adjusting, can adapt to marine environment complicated and changeable, realize largely heave, pitching, rolling, sidesway, revolution, suddenly stop, the control of the function such as deceleration, improve glider navigation performance.
2, by regulating the lengthwise position of hydrofoil and becoming the angle of attack, can reach assistant sliding ship and play cunning, shorten glider and cross the time of drag hump and the effect of minimizing main frame variable speed number of times in a sliding stage, and then save main frame consumed power, reach the effect of energy-saving and emission-reduction.
3, hydrofoil can be realized continuous control according to controlling target and external load, accelerates control response accuracy and runtime, realizes the high precision of glider in navigation is controlled.
4, glider of the present invention is simple in structure, powerful, cost is low, and can not increase the design difficulty of glider, can solve the many factors of current glider navigability in poor simultaneously.
Accompanying drawing explanation
Fig. 1 is the front view of controllable hydrofoil displacement boat of the present invention;
Fig. 2 be in Fig. 1 A-A to cutaway view;
Fig. 3 is I partial enlarged drawing in Fig. 1;
Fig. 4 is II partial enlarged drawing in Fig. 2;
In figure: 1. hull; 2. hydrofoil; 3. grooved tracks; 4. output shaft; 5. electrical motor; 6. screw; 7. shrouding; 8. hydraulic push rod; 9. hydraulic actuator; 10. watertight box; 11. central process units; 12. wires; 13. hydraulic control systems; 14. wires.
The specific embodiment
Shown in Fig. 1-4, controllable hydrofoil displacement boat of the present invention comprises hull 1, and the horizontal left and right sides of hull 1 is the ship side of a ship, laterally on the ship side of a ship of the left and right sides, 3, two grooved tracks 3 of a grooved tracks is respectively set symmetrical.Grooved tracks 3 is along longitudinal layout of hull 1, and the center of grooved tracks 3 is centers of gravity of the ship side of a ship.At the interior installation hydraulic actuator 9 of grooved tracks 3.
Referring to Fig. 3, hydraulic actuator 9 is fixed in grooved tracks 3, with shrouding 7, hydraulic actuator 9 is sealed in grooved tracks 3,, with screw 6, shrouding 7 is fixed on hull 1 meanwhile.Hydraulic actuator 9 has hydraulic push rod 8, and the top of hydraulic push rod 8 is longitudinally stretched out outside shrouding 7 and is fixedly connected with hydrofoil system.Hydrofoil system comprises hydrofoil 2, electrical motor 5 and airtight watertight box 10, hydrofoil 2 is shallow immersion wings, the top of hydraulic push rod 8 is fixedly connected with watertight box 10, watertight box 10 is positioned at grooved tracks 3 and can longitudinally slidably reciprocating along grooved tracks 3, at the interior installation electrical motor 5 of watertight box 10, the output shaft 4 of electrical motor 5 is perpendicular to the ship side of a ship and stretch out outside grooved tracks 3, on the outer end of output shaft 4, be fixedly connected with hydrofoil 2, like this, the watertight box 10 in the 8 promotion hydrofoil systems of the hydraulic push rod in hydraulic actuator 9 is along grooved tracks 3 longitudinal movements and location.Electrical motor 5 drive hydrofoils 2 can be in rotational plane Arbitrary Rotation and location, rotational plane and turning cylinder 4 are perpendicular and be parallel to the ship side of a ship.
At grooved tracks 3 outer setting hydraulic control systems 13 and central process unit (PLC) 11, hydraulic actuator 9 is by wire 14 connecting fluid pressure control systems 13, and hydraulic control system 13 is connected central process unit 11 by wire 12 respectively with electrical motor 5.By central process unit 11, send instruction, realize the control to hydraulic control system 13 and electrical motor 5, and then realize the change angle of attack motion longitudinally and in horizontal surface to hydrofoil 2.
When glider of the present invention remains static, hydrofoil 2 is direction placement perpendicular to level, and draws near topside, can not affect and berth.
Before glider enters sliding state, central process unit 11 sends instruction and controls electrical motor 5 drive hydrofoil 2 rotations, and hydrofoil 2 is rotated to horizontal by suitable angle, is adjusted to the best angle of attack that becomes, to produce larger dynamic lift and moment.Central process unit 11 is controlled hydraulic control system 13 simultaneously makes the hydraulic push rod 8 promotion hydrofoils 2 in hydraulic actuator 9 move to stem direction, make glider start to obtain a larger moment, make glider lift head, increase planing surface, accelerated slip ship is crossed drag hump, helps glider and enters fast sliding state.As shown in Figure 1, when hydrofoil 2 is when necessarily becoming angle of attack with the glider high speed speed of a ship or plane, hydrofoil 2 produces a dynamic lift, and when hydrofoil 2 move to ship bow, glider can produce an anticlockwise moment, makes glider lift head, and acceleration enters sliding state.
When glider is during in sliding state, hydrofoil 2 moves near center-of-gravity position, makes to become angle of attack and horizontal plane angle and approaches 0 degree, can reach and promote the stability of glider sliding state and the function of direct route ability.
After glider enters sliding state, by regulating the position of hydrofoil 2 in longitudinal fluting track 3 and change angle of attack to resist external load.As shown in Figure 1, take ever-increasing wind speed as example, when wind speed increases, glider running resistance increases, under the certain prerequisite of main frame horsepower output, the glider speed of a ship or plane declines, there is sinkage in hull 1, by adjusting the change angle of attack of hydrofoil 2, produce dynamic lift and make up because speed of a ship or plane hull 1 dynamic lift causing that declines reduces value, glider just there will not be sinkage, hydrofoil 2 is shifted to ship afterbody simultaneously, make glider obtain a clockwise moment, be used for offsetting the added value of the anticlockwise moment causing due to speed of a ship or plane decline, thereby guarantee the stationarity of glider navigation.The existence of hydrofoil 2, is equivalent to have increased ship wide, useful to the course stability of glider.
When the glider navigating by water at a high speed suddenly stops and slows down, regulate the change angle of attack of hydrofoil 2 to become 90 degree angles, hydrofoil 2 blocks water and produces larger resistance, increases the braking potential of glider, avoids glider ship draught forward serious, contributes to suddenly stop and slow down.
Above-mentioned state while being all glider line navigation, hydrofoil 2 synchronization regulation of two topsides of hull 1.When glider turns round, can pass through the asynchronous adjusting of 1 liang of topside hydrofoil 2 of hull, realize corresponding function, make the change angle of attack of a side hydrofoil 2 produce larger resistance, and the change angle of attack of an other side hydrofoil 2 produces compared with slight drag, thereby produce a moment of gyration, play and accelerate rotating effect, weaken sidesway phenomenon.When glider turns round, by the asynchronous adjusting increase moment of gyration of two hydrofoils 2, contribute to improve the turnability of glider.As shown in Figure 1, take glider right-hand rotation as example, it is 90 degree left and right that the hydrofoil 2 of starboard side regulates change angle of attack and horizontal plane angle, and starboard side hydrofoil 2 blocks water and produces larger resistance, and 2 adjustings of port side hydrofoil become angle of attack and horizontal plane angle is about 0 degree, current can pass through port side hydrofoil 2 smoothly, produce less resistance, glider both sides are subject to force unbalance, and right side resistance is greater than left side, thereby produced a right-hand rotation moment, made glider right-hand rotation.The left rotating method of glider is contrary with right-hand rotation, increase the change angle of attack of hull left side hydrofoil 2, be adjusted near 90 degree, the change angle of attack of right side hydrofoil 2 is adjusted near 0 degree, the resistance that left side hydrofoil 2 produces is far longer than right side hydrofoil 2, therefore produce a left moment of gyration, glider produces left gyroscopic movement.
Claims (3)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210111448.1A CN102627138B (en) | 2012-04-17 | 2012-04-17 | Controlled hydrofoil hydroplane and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210111448.1A CN102627138B (en) | 2012-04-17 | 2012-04-17 | Controlled hydrofoil hydroplane and control method thereof |
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| CN102627138B true CN102627138B (en) | 2014-11-05 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201600094283A1 (en) * | 2016-09-20 | 2016-12-20 | Psc Eng S R L | Procedure for controlling the rolling and / or pitching motion of a boat at no or low vessel speed |
| CN109426270A (en) * | 2017-08-21 | 2019-03-05 | 天津海之星船艇科技有限公司 | A kind of unmanned boat attitude control system partly latent based on PLC |
| CN113044156A (en) * | 2021-03-30 | 2021-06-29 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for controlling inclination angle of hydrofoil |
| CN113320639A (en) * | 2021-06-11 | 2021-08-31 | 李中应 | Automatic power controllable accelerating device for ship |
| CN113602464A (en) * | 2021-06-25 | 2021-11-05 | 武汉理工大学 | Ship lifting and propelling device based on flapping wings |
| CN114906310A (en) * | 2022-05-30 | 2022-08-16 | 嘉兴市伟佳船舶有限公司 | Passenger ship with auxiliary navigation device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3345968A (en) * | 1966-04-29 | 1967-10-10 | David Z Bailey | Hydrofoil |
| GB1211704A (en) * | 1967-01-05 | 1970-11-11 | Christopher Hook | Improvements in or relating to hydrofoil craft |
| US3645223A (en) * | 1970-10-16 | 1972-02-29 | Us Navy | Hydrofoil flap control system |
| WO2001079057A1 (en) * | 2000-04-19 | 2001-10-25 | Zakrytoe Aktsionernoe Obschestvo 'otdelenie Morskih Sistem Okb Im. P.O. Sukhogo | High speed ship |
| CN1422780A (en) * | 2001-11-23 | 2003-06-11 | 宫崎国男 | Semi-diving type hydroplane |
| CN1562694A (en) * | 2004-03-23 | 2005-01-12 | 重庆大学 | Minitype ship with hidden wings |
| CN201148207Y (en) * | 2007-11-30 | 2008-11-12 | 江苏科技大学 | Motor driven hydrofoil biomimetic thruster |
| CN201745718U (en) * | 2010-07-27 | 2011-02-16 | 杭州良金船艇有限公司 | Marine kayak with manually-operated flipper |
-
2012
- 2012-04-17 CN CN201210111448.1A patent/CN102627138B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3345968A (en) * | 1966-04-29 | 1967-10-10 | David Z Bailey | Hydrofoil |
| GB1211704A (en) * | 1967-01-05 | 1970-11-11 | Christopher Hook | Improvements in or relating to hydrofoil craft |
| US3645223A (en) * | 1970-10-16 | 1972-02-29 | Us Navy | Hydrofoil flap control system |
| WO2001079057A1 (en) * | 2000-04-19 | 2001-10-25 | Zakrytoe Aktsionernoe Obschestvo 'otdelenie Morskih Sistem Okb Im. P.O. Sukhogo | High speed ship |
| CN1422780A (en) * | 2001-11-23 | 2003-06-11 | 宫崎国男 | Semi-diving type hydroplane |
| CN1562694A (en) * | 2004-03-23 | 2005-01-12 | 重庆大学 | Minitype ship with hidden wings |
| CN201148207Y (en) * | 2007-11-30 | 2008-11-12 | 江苏科技大学 | Motor driven hydrofoil biomimetic thruster |
| CN201745718U (en) * | 2010-07-27 | 2011-02-16 | 杭州良金船艇有限公司 | Marine kayak with manually-operated flipper |
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Inventor after: Liu Ze Inventor after: Wang Haixing Inventor after: Wang Zhidong Inventor after: Fan Lu Inventor after: Liu Xiaojian Inventor after: Li Xin Inventor after: Lv Hongling Inventor after: Chen Jianwen Inventor before: Ling Hongjie Inventor before: Wang Zhidong Inventor before: Fan Lu Inventor before: Liu Xiaojian Inventor before: Li Xin Inventor before: Lv Hongling Inventor before: Chen Jianwen Inventor before: Liu Jiahuan Inventor before: Dou Jing |
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Free format text: CORRECT: INVENTOR; FROM: LING HONGJIE WANG ZHIDONG FAN LU LIU XIAOJIAN LI XIN LV HONG CHEN JIANWEN LIU JIAHUAN DOU JING TO: LIU ZE WANG HAIXING WANG ZHIDONG FAN LU LIU XIAOJIAN LI XIN LV HONG CHEN JIANWEN |
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