CN103640675B - The amphibious unmanned boat of water surface trisome - Google Patents
The amphibious unmanned boat of water surface trisome Download PDFInfo
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- CN103640675B CN103640675B CN201310692714.9A CN201310692714A CN103640675B CN 103640675 B CN103640675 B CN 103640675B CN 201310692714 A CN201310692714 A CN 201310692714A CN 103640675 B CN103640675 B CN 103640675B
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Abstract
The present invention discloses the amphibious unmanned boat of a kind of water surface trisome, the middle, bottom of middle hull connects into water hull by the first vertical lamellar body, the both sides, middle of middle hull respectively connect the top of a lateral body by the second lamellar body of a level, before and after on each the second lamellar body, all put two screws, enter the top of water hull lower than the bottom of lateral body, the bottom of each lateral body all connects into water hull by outer Zhang Shuiyi; Between preposition screw and lamellar body, be connected with the support frame that is fixed on the preposition screw on the second lamellar body, rotatable support frame with rear-mounted propeller between rear-mounted propeller and the second lamellar body is connected, and rotatable support frame is connected in the second lamellar body, is innerly connected with first power transmission shaft by bearing in the outer end of ship cross direction; Can effectively overcome current water surface unmanned boat wave navigation maneuverability and seakeeping capacity is poor and the unmanageable shortcoming of attitude and wave in ineffective weakness.
Description
Technical field
The present invention relates to a kind of ships and light boats, refer in particular to a kind of for the water surface, under water and the amphibious unmanned boat type of water surface trisome of low-altitude reconnaissance patrol and monitoring.
Background technology
Typical water surface unmanned boat does not have ship person; rely on remote control or from master mode at surface navigation; on ship, do not need to be equipped with commander and operator; ship surface scribbles multiple stealth material; in addition volume is small and exquisite, can be by the shielding of the offshore such as wave, islands and reefs complex environment, and can be movable for a long time in high-risk waters; unmanned from main control, can complete ISR, troops' protection, precision strike, the task such as antisubmarine. Substantially be all to adopt modularized design, press according to demand modular mode and substitute task module, can be equipped with different equipments, complete the task of appointment by modes such as remote control, formulation program and unmanned intelligence. Current water surface unmanned boat is substantially all to adopt glider type, and displacement and the yardstick thereof of glider are all very little, and navigation is subject to the effect of wave across the sea, and its navigation performance is poor, and operating efficiency is low. Particularly, be difficult to normally work under high sea conditions.
In the empty amphibious ship of water, only have two types, ground effect ship and aircushion vehicle, ground effect ship belongs to high speed large vessel, and this ship type is not suitable for the miniature self-service ship for monitoring results, and cannot depart from the water surface in the time of low speed, and under the high speed of a ship or plane, its navigation stability is poor. Although aircushion vehicle can depart from the water surface under high speed low speed, but it is very near apart from the water surface, be substantially limited within the scope of its skirt depth, in the wave situation compared with large, air cushion can leak gas and lose efficacy, and aircushion vehicle, because its hull bottom will be used for sealing air cushion, is inconvenient to install monitoring equipment. Can realize water surface VTOL although there are indivedual overwater helicopters, but its structure just will be installed buoyancy aid on the basis of helicopter on undercarriage, only when rising and falling, and body nodal point is high, seakeeping capacity is poor, surface navigation poor performance, if using overwater helicopter as taking monitoring and patrol as the miniature self-service ship of main task, its cost and maintenance cost are also very high.
Summary of the invention
The object of this invention is to provide and a kind ofly overcome current water surface unmanned boat and navigate by water at a high speed ineffective weakness in the moving fatal shortcoming of stablize poor controllability of luck and wave, and for the water surface, under water and the low latitude amphibious unmanned boat of water surface trisome of monitoring.
The present invention is achieved by the following technical programs: have middle hull, the middle, bottom of middle hull connects into water hull by the first vertical lamellar body, the both sides, middle of middle hull respectively connect the top of a lateral body by the second lamellar body of a level, before and after on each the second lamellar body, all put two screws, enter the top of water hull lower than the bottom of lateral body, the bottom of each lateral body all connects into water hull by outer Zhang Shuiyi; Two lateral bodys laterally extend to outer lower side along middle hull, are 35 °～65 ° to the outer subtended angle degree of outer lower side; Middle hull middle part end face to the front is arranged oneTopAware platform, the anterior bottom surface of middle hull is arranged a reversely hung Yong aware platform; Two the second lamellar bodies, two lateral bodys, two outer Zhang Shuiyi are all symmetrical with respect to middle hull, and four screws are symmetrical between two with respect to middle hull; Hull inside, middle part is provided with battery pack, control system, transmission system and other instrument and equipments; Between preposition screw and lamellar body, be connected with the support frame that is fixed on the preposition screw on the second lamellar body, rotatable support frame with rear-mounted propeller between rear-mounted propeller and the second lamellar body is connected, and the rotatable support frame of rear-mounted propeller is connected in the second lamellar body, is innerly connected with first power transmission shaft by bearing in the outer end of ship cross direction; Transmission system connects respectively the centre of first, second root power transmission shaft, and second power transmission shaft connects respectively a hydroplane at the two ends of ship cross direction; Screw connects brushless electric machine, and brushless electric machine connects battery pack and control system by electron speed regulator.
The present invention is based on hull hydrodynamics, aerodynamics, Marine Engine Engineering, control science, system analysis engineering and artificial intelligence multidisciplinary synthesis optimal design, can effectively overcome current water surface unmanned boat wave navigation maneuverability and seakeeping capacity is poor and the unmanageable shortcoming of attitude and wave in ineffective weakness, its combination property is better than current water surface unmanned boat, and being applicable to provides strong technical support at the scouting monitoring unmanned boat of high sea conditions operation for the normal operation under higher sea situation environmental condition of small-size water surface unmanned boat.
Brief description of the drawings
Fig. 1 is front view of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is hull 1 inner composition and outside connection layout in middle part in Fig. 1;
Fig. 5 is the johning knot composition of front and back screw 6 in Fig. 1;
Fig. 6 is two kinds of profiles of A-A of lateral body 2 in Fig. 3;
Fig. 7 is the control schematic diagram of screw 6 and hydroplane 9 in Fig. 2;
Fig. 8 is the lift schematic diagram of the present invention while navigating by water;
1. middle part hull; 2. lateral body; 3. enter water hull; 4. connect middle part hull 1 and the lamellar body that enters water hull 3; 5. outer Zhang Shuiyi; 6. screw; 7. connect the lamellar body of middle part hull 1 and lateral body 2; 8. top induction platform; 9. hydroplane; 10. reversely hung Yong induction platform; 11. brushless electric machines; The support frame of 12. preposition screws; The rotatable support frame of 13. rear-mounted propellers; 14. power transmission shafts; 15. electron speed regulators.
Detailed description of the invention
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention has middle hull 1, and the middle, bottom of middle hull 1, with entering water hull 3, enters water hull 3 symmetrical with respect to middle hull 1. Middle hull and entering between water hull 3 connects by vertical lamellar body 4，The both sides, middle of middle hull 1 respectively connect the top of a lateral body 2 by the lamellar body 7 of a level, two lamellar bodies 7 are symmetrical with respect to middle hull 1, and two lateral bodys 2 are also symmetrical with respect to middle hull 1. On the lamellar body 7 of level, be furnished with screw 6, all put 6, four screws 6 of two screws before and after on each lamellar body 7 symmetrical between two with respect to middle hull 1. Enter the top of water hull 3 lower than the bottom of lateral body 2, it is symmetrical with respect to middle hull 1 that the bottom of each lateral body 2 all connects into 3, two outer Zhang Shuiyi 5 of water hull by outer Zhang Shuiyi 5. The additional lift that outer Zhang Shuiyi 5 can provide hull to rise, cutting while striking face operational configuration, make hull there is excellent self-stability, simultaneously, because outer Zhang Shuiyi 5 and two lateral body 2 location arrangements are at midships section, the largest ground lifting hull in the time of high speed, ensures good shipping-direction stability when reducing resistance.
Two lateral bodys 2 are the airfoil type of outer, laterally extend to outer lower side along middle hull 1, and outer subtended angle degree (angle of lateral body 2 inner surfaces and middle hull 1 central longitudinal section) is 35 °～65 °. High long than the large or lower ship of design navigation sea situation for ship, this outer subtended angle degree capping value, high long than the little or high ship of design navigation sea situation for ship, outer subtended angle degree takes off limit value. When navigation, aerofoil profile lateral body 2 can produce the lift perpendicular to lateral body 2 surfaces, while having outer subtended angle to spend, and the constraint when component of the horizontal direction of its lift can increase its rolling, the sea-keeping of increase unmanned boat; The lift of its vertical direction can hold up hull, reduces it and enters water volume and resistance. Lateral body 2 maximum lengths are 9～22 with the ratio of maximum transversal yardstick, and length to height ratio is 4～9. Hull surface speed is higher, lateral body 2 maximum lengths are larger with the ratio of maximum transversal yardstick, and length to height ratio is less, and hull surface speed is lower, and lateral body 2 maximum lengths are less with the ratio of maximum transversal yardstick, and length to height ratio is larger.
In order to make this unmanned boat there is good condition of work, arrange a top aware platform 8 at middle hull 1 middle part hull end face to the front, arrange a reversely hung Yong aware platform 10 at the anterior bottom surface of middle hull 1, in the time of surface navigation, can only use top aware platform 8, and can be taking bottom reversely hung Yong aware platform 10 as main in the time of state of flight, top aware platform 8 helps out.
Preposition two screws 6 are contrary with two rearmounted screw 6 rotating speeds, and selected main frame model, power and rotating speed is also identical respectively; Diameter, the number of sheets, oar type and the rotating speed etc. of four screws 6 according to when flight cruise and maximal rate between the required lift of certain midrange speed and design definite.
Middle hull 1, lateral body 2, screw 6 and lamellar body 7 adopt the skeleton of the light material such as carbon fibre composite or aluminium alloy and grillage formation that outside plate is made, closed up by lateral body 2, middle hull 1 and lamellar body 7 skeleton splicings, junction (or covering of whole hull) pasted into the totally enclosed hull of airtight or watertight by carbon fiber/epoxy resin.
It is the ichthyoid of sub-elliptical (oval minor axis level) that the upper body of middle hull 1 adopts ichthyoid or the section that the centre of form elongated streamlined revolving body to the front or placed in the middle or section are oval (oval minor axis level). Entering water buoyancy aid 3 is also elongated streamlined revolving body or the section ichthyoid for oval (transverse level), has both had good low-resistance characteristic, and manufacturability might as well. The upper body length to height ratio of middle hull 1 is 9～12, and for arranging that volume requires high hull, this length to height ratio takes off limit value, and for arranging the less demanding hull of volume, this length to height ratio capping value. Enter water buoyancy aid 3 length and be about 1/4～1/2 of middle hull 1 overall length, length-width ratio is 5～9, arrange that for underwater volume requires high hull, this Length Ratio capping value, length-width ratio are taken off limit value, and for arranging the less demanding hull of volume, this length is taken off limit value, length-width ratio capping value.
As shown in Figure 4, middle part hull 1 internal main will be installed battery pack, control system, transmission system and other instrument and equipments, all the other all inner redundant spaces all adopt little severe buoyant material to fill, improve significantly the unsinkability when damaged, for under damaged condition, maintenance work ability provides support.
As shown in Figure 5, screw 6 with adopt the support frame 12 of preposition screw and the rotatable support frame 13 of rear-mounted propeller being connected of lamellar body 7, ensure screw 6 together with the center of gravity of brushless electric machine 11 the vertical central position at lamellar body 7. Near the preposition screw 6 and the support frame 12 that adopts preposition screw being connected of lamellar body 7 of ship bow, the support frame 12 of preposition screw is fixed on above lamellar body 7. And near the rearmounted screw 6 of ship stern and the rotatable support frame 13 that adopts rear-mounted propeller that is connected of lamellar body 7,13 outer ends at ship cross direction of rotatable support frame of rear-mounted propeller are connected in lamellar body 7, inner are connected with first power transmission shaft 14 by bearing, the centre of first power transmission shaft 14 is connected with the transmission system in middle part hull 1, the centre of second power transmission shaft 14 is also connected with the transmission system in middle part hull 1, and second power transmission shaft 14 connects respectively a hydroplane 9(referring to Fig. 7 at the two ends of ship cross direction). Screw 6 connects the output shaft of brushless electric machine 11, by brushless electric machine 11 driven rotary.
As shown in Figure 6, consider navigation and the symmetrical designing requirement of flight for hull, two lateral bodys 2 adopt identical high lift-drag ratio, become the elongated streamlined short wing of chord length, aerofoil profile is bow type, and aerofoil profile adopts maximum ga(u)ge position to omit the improvement bow type (Fig. 6 (a)) of reach, the improvement airfoil type (Fig. 6 (b)) that maximum ga(u)ge position is moved slightly afterwards. Maximum ga(u)ge h is 6% of lateral body 2 chord length L, the chord length L of lateral body 2 lengthens from top to bottom gradually, Thickness Ratio reduces gradually, in the time approaching bottom, chord length slowly reduces, adopt the lateral body 2 that becomes chord length can make arterial drainage volume on the lower, effectively alleviate the stability that reduces to cause due to displacement of volume after hull is held up by lift and decline. Can, for hull provides the ships and light boats such as buoyancy, stability static mechanical performance to support at surface navigation, on the other hand, also can improve the dynamic performance such as rapidity and airworthiness of its surface navigation on the one hand.
As shown in Figure 7 and Figure 8, brushless electric machine 11 connecting electronic speed regulators 15, electron speed regulator 15 is connected to battery pack and the control system in the hull 1 of middle part by cable again, send instruction and control the rotating speed of brushless electric machine 11 to electron speed regulator 14 by control system, reach screw 6 and produce different lift and control the attitude of unmanned boat and the object of motion. The present invention provides power by the battery pack in middle part hull 1, the unmanned boat that reversely hung Yong aware platform 10 and top aware platform 8 the receive real-time operational configuration information of moving sends to control system, control system is sent and is adjusted the instruction of operational configuration to each electron speed regulator 15 by closed-loop control system, and electron speed regulator 15 transfers control instruction to voltage and current signal and issues brushless electric machine 11 and realize rotating speed control; Control system also by sending controling instruction to transmission system, drive hydroplane 9 to rotate to adjust suitable rudder angle by second power transmission shaft 14 to ensure the stable of navigation. In the time that reversely hung Yong aware platform 10 and top aware platform 8 detect that large wave approaches unmanned boat, send signal to control system, then four screws 6 of control system control are modulated rotating shaft plumbness High Rotation Speed, produce huge lift unmanned boat is raised to and avoids wave in the air; If reversely hung Yong aware platform 10 HesTopAware platform 8 detects the situation of urgent break-in (as between islands and reefs unairworthiness state in the situation that) that needs, can control 6 rotations of one-sided screw makes hull initiatively produce heel, make left and right lateral body 2 enter the asymmetric torque of water generates, again because the conventional vertical rudder of lateral body 2 Area Ratios wants large and lateral body 2 is large apart from middle part hull 1 distance, therefore this torque can reach very greatly to make unmanned boat to realize small radius steering under high-speed case, has very high maneuverability. For ensureing the basic flying speed of hull, pass through closed-loop control device, two screws 6 near ship stern are controlled automatically, making it can be the axis of screw 6 and the angle in hull midship cross section this angle of angle (see figure 5) of 0 °～20 ° around transverse horizontal axis, turns to hull midship cross section in just, to rotate counterclockwise from the axis of screw 6. According to rate request, the larger corner of the speed of a ship or plane is larger, otherwise less. Screw 6 High Rotation Speed under the drive of brushless electric machine 11 can produce lift, realize the VTOL of unmanned boat, can under high sea situation, realize and promptly keep away wave, and the arrangement of four screws 6 makes unmanned boat have better wind resistance and maneuvering performance than overwater helicopter in the time of state of flight, can also be with state of flight fast transfer operating area. In addition, when the screw 6 asynchronous work of the left and right sides, can realize initiatively subtracting and shake, stability when increasing operation in its wave.
Claims (4)
1. the amphibious unmanned boat of water surface trisome, there is middle hull (1), it is characterized in that: the middle, bottom of middle hull (1) connects into water hull (3) by vertical the first lamellar body (4), the both sides, middle of middle hull (1) respectively connect the top of a lateral body (2) by second lamellar body (7) of a level, before and after each the second lamellar body (7) is upper, all put two screws (6), enter the top of water hull (3) lower than the bottom of lateral body (2), the bottom of each lateral body (2) all connects into water hull (3) by outer Zhang Shuiyi (5); Two lateral bodys (2) laterally extend to outer lower side along middle hull (1), are 35 °～65 ° to the outer subtended angle degree of outer lower side; Middle hull (1) middle part end face to the front is arranged a top aware platform (8), and the anterior bottom surface of middle hull (1) is arranged a reversely hung Yong aware platform (10); Two the second lamellar bodies (7), two lateral bodys (2), two outer Zhang Shuiyi (5) are all symmetrical with respect to middle hull (1), and four screws (6) are symmetrical between two with respect to middle hull (1); Hull (1) inside, middle part is provided with battery pack, control system and transmission system; Between preposition screw (6) and lamellar body (7), be connected with the support frame (12) that is fixed on the preposition screw on the second lamellar body (7), rotatable support frame (13) with rear-mounted propeller between rear-mounted propeller (6) and the second lamellar body (7) is connected, and the rotatable support frame (13) of rear-mounted propeller is connected in the second lamellar body (7), is innerly connected with first power transmission shaft (14) by bearing in the outer end of ship cross direction; Transmission system connects respectively the centre of first, second root power transmission shaft (14), and second power transmission shaft (14) connects respectively a hydroplane (9) at the two ends of ship cross direction; Screw (6) connects brushless electric machine (11), and brushless electric machine (11) connects battery pack and control system by electron speed regulator (15).
2. the amphibious unmanned boat of water surface trisome according to claim 1, is characterized in that: preposition two screws (6) are contrary with rearmounted two screws (6) rotating speed.
3. the amphibious unmanned boat of water surface trisome according to claim 1, is characterized in that: the length to height ratio of middle hull (1) is 9～12; Enter water hull (3) length and be middle hull (1) overall length 1/4～1/2, length-width ratio is 5～9.
4. the amphibious unmanned boat of water surface trisome according to claim 1, it is characterized in that: two lateral bodys (2) are the elongated streamlined short wings that becomes chord length, aerofoil profile is the slightly improvement bow type of reach or the improvement airfoil type that maximum ga(u)ge position is moved slightly afterwards of maximum ga(u)ge position, maximum ga(u)ge be lateral body (2) chord length 6%.
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| CN201310692714.9A CN103640675B (en) | 2013-12-18 | 2013-12-18 | The amphibious unmanned boat of water surface trisome |
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| CN103640675B true CN103640675B (en) | 2016-05-04 |
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| CN109669347B (en) * | 2018-12-05 | 2024-04-02 | 山东智翼航空科技有限公司 | Unmanned ship rotating speed differential stabilization system and method |
| CN112550571B (en) * | 2020-12-15 | 2022-01-14 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
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