CN103895846B - A kind of attitude-control device for flying wing type underwater glider and control method - Google Patents
A kind of attitude-control device for flying wing type underwater glider and control method Download PDFInfo
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- CN103895846B CN103895846B CN201410083129.3A CN201410083129A CN103895846B CN 103895846 B CN103895846 B CN 103895846B CN 201410083129 A CN201410083129 A CN 201410083129A CN 103895846 B CN103895846 B CN 103895846B
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- liquid tank
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- underwater glider
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000007788 liquid Substances 0.000 claims abstract description 154
- 230000005484 gravity Effects 0.000 claims abstract description 24
- 238000005086 pumping Methods 0.000 claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 239000012530 fluid Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 108010066057 cabin-1 Proteins 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 108010066114 cabin-2 Proteins 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000037237 body shape Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Pipeline Systems (AREA)
Abstract
The present invention is to provide a kind of attitude-control device for flying wing type underwater glider and control method.Including pumping plant cabin, four regulation liquid tanks, each regulation liquid tank have through hole up and down, four regulation liquid tanks are arranged in " ten " font, the through hole of two relative regulation liquid tank upper ends is connected by pipeline, the through hole of each regulation liquid tank lower end is connected with pumping plant cabin by pipeline, the pipeline that each regulation liquid tank lower end is connected with pumping plant cabin is respectively provided with electromagnetic valve and i.e. includes four electromagnetic valves.The medium that the employing liquid of the present invention regulates as center of gravity, is attached various piece by pipeline, it is possible to make the flexible arrangement in cabin.Simultaneously as the seriality of liquid so that the control accuracy of regulation is high.Further, since relatively independent between each cabin, the renewal upgrading of convenient maintenance and equipment.
Description
Technical field
The present invention relates to a kind of system regulating flying wing type underwater glider attitude by changing position of centre of gravity.
Background technology
Unmanned submersible can be widely used for benthic resource exploration, and mineral resources are sampled, and sea-floor relief surveys, immersed object salvage,
Earthquake geothermal activity is monitored, marine environmental monitoring, ocean engineering maintenance etc..
Underwater glider is the one of unmanned submersible, is typical marine exploration platform.It can move on a large scale, its
Power is provided by buoyancy and gravitational difference, coordinate center of gravity at horizontal and vertical adjustment and the wing, complete sailed onward and attitude,
The adjustment of course angle, it has the advantages such as low cost, low noise, long voyage, can be used for measuring maritime interior waters on a large scale salinity,
Temperature, ocean current, it might even be possible to record marine organisms sound, and the on-line normalization of marine environment data can be realized.
First generation gliding type submersible includes Seaglider, Spray, Slocum.Outside the hydrodynamic force of first generation gliding type submersible
Shape is mainly made up of hull, horizontal tail, empennage and attached body, and hull profile mainly has water-drop-shaped and the lower resistance laminar flow of parallel (middle) body
Shape two kinds, they have bigger capacity to accommodate internal pressure-resistant cabin and associated components, but its profile also makes it have bigger wet
Surface area, produces bigger resistance, and is nearly free from lift.Its glide efficiency is restricted, and maximum lift-drag ratio is only
About 5 can be reached.In order to improve lift-drag ratio, creating flying wing type underwater glider, " all-wing aircraft " this concept is derived from aircraft industry,
It it is the distribution form of a kind of fuselage and wing fusion, owing to its hull part can also produce bigger lift so that overall liter
Hinder the improvement bigger than having obtained, and then improve gliding type submersible glide efficiency in water.
The motion of underwater glider be unable to do without attitude control system, and attitude control system can make it float or obtain during dive
Obtain velocity component forward, and the turning of underwater glider also depends on attitude control system.In existing open source literature, typically
The regulation of attitude is realized by the position of one pouring weight of regulation, higher to space requirement in cabin.
Summary of the invention
It is an object of the invention to provide sliding under water for flying wing type of a kind of attitude regulation under water that can conveniently realize aerodone
The attitude-control device of Xiang machine.The present invention also aims to provide a kind of based on the gesture stability for flying wing type underwater glider
The control method of device.
The object of the present invention is achieved like this:
The attitude-control device for flying wing type underwater glider of the present invention includes pumping plant cabin, four regulation liquid tanks, each regulation
Liquid tank have through hole up and down, four regulation liquid tanks are arranged in " ten " font, the through hole of two relative regulation liquid tank upper ends lead to
Crossing pipeline to be connected, the through hole of each regulation liquid tank lower end is connected with pumping plant cabin by pipeline, each regulation liquid tank lower end and pumping plant
It is respectively provided with electromagnetic valve on the pipeline that cabin is connected and i.e. includes four electromagnetic valves.
Described pumping plant cabin includes direct current generator and gear pump.
The control method for the attitude-control device of flying wing type underwater glider based on the present invention is:
Under original state, having the ballast liquid of certain volume in four regulation liquid tanks, remaining volume is full of air, four electromagnetic valves
Close All, flying wing type underwater glider is in stable poised state；
When water flying wing type underwater glider needs the attitude regulating roll, the electromagnetic valve that two, left and right regulation liquid tank connects is opened,
Direct current generator and gear pump work, the ballast liquid in left regulation liquid tank enters right regulation liquid tank, the air in the rightest regulation liquid tank
Entering left regulation liquid tank, the center of gravity of water flying wing type underwater glider regulates to the right the direction of liquid tank and moves, water flying wing type underwater gliding
Machine is tilted to the right, and when direct current generator and gear pump reverse operation, the center of gravity of water flying wing type underwater glider regulates liquid tank to the left
Direction is moved, and water flying wing type underwater glider is tilted to the left；
When underwater glider needs the attitude regulating pitching, the closed electromagnetic valve that two, left and right regulation liquid tank connects, upper and lower two
The electromagnetic valve connected on individual regulation liquid tank is opened, direct current generator and gear pump work, and the ballast liquid in upper regulation liquid tank enters to be lowered
Joint liquid tank, descends the air in regulation liquid tank to enter simultaneously and regulates liquid tank, and the center of gravity of water flying wing type underwater glider regulates downwards liquid
The direction in cabin is moved, and water flying wing type underwater glider produces lifts first moment, and when direct current generator and gear pump reverse operation, water flies
The center of gravity of wing formula underwater glider is adjusted up the direction of liquid tank and moves, and water flying wing type underwater glider produces and buries first moment.
Its constituting portion is divided and is included pumping plant cabin, four regulation liquid tanks and be connected to the pipeline between each cabin.Whole system is envelope
Close, and the pipeline between each cabin and cabin can resist extraneous hydraulic pressure, to ensure that internal system is a normal pressure
Space, thus reduce the requirement of the operating pressure for pump, ensure the smooth working of pump.Pumping plant cabin arranges two-way work
The gear pump made, gear pump belongs to dosing pump, and flow is in direct ratio with rotating speed, can calculate tune by the angle that calculating rotates
Joint amount.Pump is furnished with code-disc by DC motor Driver, motor, can feed back the angle of rotation, the angle that can be rotated by calculating
Degree calculates regulated quantity.Four liquid tanks are arranged in " ten " font, are realized ballast liquid and are regulated liquid by coordinating of pump and valve at each
Scheduling between cabin, thus reach the purpose of center-of-gravity regulating position.When ballast liquid is dispatched between former and later two liquid tanks, system
Center of gravity along longitudinally movable, the angle of pitch of regulation underwater glider；When ballast liquid is dispatched between the liquid tank of two, left and right,
The center of gravity of system transversely moves left and right, the roll angle of regulation underwater glider.
The medium that the employing liquid of the present invention regulates as center of gravity, is attached various piece by pipeline, it is possible to make cabin
Flexible arrangement.Simultaneously as the seriality of liquid so that the control accuracy of regulation is high.Further, since phase between each cabin
To independence, the renewal upgrading of convenient maintenance and equipment.
Accompanying drawing explanation
Fig. 1 is the attachment structure schematic diagram of the present invention；
Fig. 2 is the hydraulic schematic diagram of the present invention；
Fig. 3 is the sealing structural profile schematic diagram of pipeline.
Detailed description of the invention
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail.
In conjunction with Fig. 1, the composition for the attitude control system of flying wing type underwater glider includes pumping plant cabin 1, four regulation liquid tanks 2,
3,4,5, the pipeline 21,31,41,51,32,54 being connected between each cabin.Each cabin and pipeline composition are
One closed system, with the communication that the external world does not has material.And, outside the pipeline between each cabin and cabin can be resisted
Boundary's hydraulic pressure, making system can keep inside it in deep water is the environment of a normal pressure, it is ensured that below deck equipment properly functioning.
Pumping plant cabin is the control centre of whole system, will be through pumping plant cabin when carrying out the exchange of ballast liquid between liquid tank.Four tune
Joint liquid tank is divided into two groups, and regulation liquid tank 2,3 is one group, and regulation liquid tank 4,5 is another group.For one group of cabin 2,3,2
Have upper and lower two perforates respectively with 3, the perforate of top is joined directly together by pipeline 32, and the perforate of lower section is respectively by pipeline 21
Be connected with pumping plant cabin 1 with pipeline 31, then liquid tank 2, pipeline 32, liquid tank 3, pipeline 31, pumping plant cabin 1, pipeline 21 are sequentially
It is connected to become a loop.For one group of liquid tank 4,5, the perforate of top is joined directly together by pipeline 54, the perforate of lower section
Be connected with pumping plant cabin 1 with pipeline 51 by pipeline 41 respectively, then liquid tank 4, pipeline 54, liquid tank 5, pipeline 51, pumping plant cabin
1, pipeline 41 is sequentially connected with becomes a loop.
Two regulation liquid tanks one half volume when poised state of each group is filled with ballast liquid, and remainder is full of air.Due to
Density is different, and ballast liquid is in bottom, and air is at top, when being adjusted, ballast liquid from be connected to liquid tank lower curtate pipeline 21,
31,41,51 flowing, air flows from the pipeline 32,54 being connected to tank roof.Press between regulation liquid tank 2,3
During the exchange of carrier fluid, the center of gravity of system moves along the longitudinal direction, the Angle of Trim of regulation flying wing type underwater glider.When regulation liquid tank
When 4, carrying out the exchange of ballast liquid between 5, the center of gravity of system transversely moves left and right, the roll angle of regulation flying wing type aerodone.
The cross flow one of ballast liquid can not be carried out between two groups of regulation liquid tanks.
Building block and the workflow of hydraulic system of hydraulic system is introduced in conjunction with Fig. 2.
Whole hydraulic system can be split as two loops, and they share a set of pump and motor.System has four electromagnetic valves 12,
13,14,15, control the pipeline between liquid tank 2,3,4,5 and pumping plant cabin 1 respectively.
By controlling electromagnetic valve, system can reach three below duty.
1., when electromagnetic valve 12,13,14,15 is all in closed position, in system, not flowing, is in stable state.
2. when electromagnetic valve 12,13 open, 14,15 close time, liquid tank 2, electromagnetic valve 12, gear pump 10, electromagnetic valve 13,
Liquid tank 3 forms a loop, and under the work of pump, ballast liquid can swap between liquid tank 2 and 3.When ballast liquid from
When liquid tank 2 is inhaled into 3, the liquid level of liquid tank 2 declines, and the air pressure of ullage reduces, and the liquid level of liquid tank 3 rises, liquid level
The air pressure of top improves, and therefore under the effect of pressure reduction, air enters liquid tank 2, compensating differential pressure by pipeline 32 from liquid tank 3.
Now, the center of gravity of system is moved back by along vertical, makes underwater glider produce and lifts first moment.Otherwise, when ballast liquid is inhaled from liquid tank 3
When entering to liquid tank 2, the air pressure in liquid tank 3 reduces, and the air pressure in liquid tank 2 improves, and air is entered from liquid tank 2 by pipeline 32
Liquid tank 3.Now, the center of gravity of system, along longitudinally reach, makes underwater glider produce and buries first moment.
3. when electromagnetic valve 12,13 close, 14,15 open time, liquid tank 4, electromagnetic valve 14, gear pump 10, electromagnetic valve 15,
Liquid tank 5 forms a loop, and under the work of pump, ballast liquid swaps between liquid tank 4 and 5.Work process is ibid.
When ballast liquid enters liquid tank 5 from liquid tank 4, the center of gravity of system is the most traversing, and underwater glider astarboard tilts；When ballast liquid
When liquid tank 5 enters liquid tank 4, the center of gravity of system is the most traversing, and underwater glider aport tilts.
In addition to three above state, system does not has other duty.
In native system, use direct current generator 11 driving gear pump 10.Direct current generator uses analogue signal to control, rotating speed and input
Voltage is corresponding.In order to improve the reliability of system, add code-disc and the rotating speed of motor and the angle that turns over are fed back.
In conjunction with Fig. 3, as a example by liquid tank 2 and pipeline 32, introduce pipeline by the encapsulating method at bulkhead.Each in system
Two ends, cabin all have employed hemispheric profile, and there is certain curvature on surface.The convenient sealing in position in order to pass through at pipeline,
One plane of partial operation.Pipeline communicates by being opened on the external world on watertight case, is sealed by "O"-ring.
At sealing, structure is mainly by pipeline 32, the shell of liquid tank 2, sealing flange 6, end face seal "O"-ring 8, radial seal " O "
Type circle 7 forms.In diagram, lower section is inside liquid tank, is arranged above outside liquid tank.Isolation inside and outside liquid tank relies primarily on "O"-ring
Effect, the function of flange be compress "O"-ring.
The work process of the present invention is as follows:
Under original state, having the ballast liquid of certain volume in liquid tank 2,3 and liquid tank 4,5, remaining volume is full of air, valve
12,13,14,15 close, make system be in stable poised state.
When underwater glider needs the attitude regulating roll, electromagnetic valve 14,15 is opened, is made liquid tank 4, pipeline 41, electromagnetic valve
14, gear pump 10, electromagnetic valve 15, pipeline 51, liquid tank 5, pipeline 54 is sequentially connected with is a complete loop.Pass through pump
Work, the ballast liquid in liquid tank 4 enters liquid tank 5, with this by pipeline 41, electromagnetic valve 14, pipeline 51, electromagnetic valve 15
Air in liquid tank 5 enters the liquid tank 4. density due to ballast liquid much larger than the density of air, then system by pipeline 54 simultaneously
Center of gravity move to the direction of liquid tank 5, underwater glider is tilted to the right.When pump reverse operation, situation is contrary, the weight of system
The heart moves to the direction of liquid tank 4, and underwater glider is tilted to the left.
When underwater glider needs the attitude regulating pitching, electromagnetic valve 14,15 cuts out, and electromagnetic valve 12,13 is opened, and makes liquid
Cabin 2, pipeline 21, electromagnetic valve 12, gear pump 10, electromagnetic valve 13, pipeline 31, liquid tank 3, pipeline 32 is sequentially connected with is one
Individual complete loop.Its work process is similar when regulating with roll, when ballast liquid enters liquid tank 3 from liquid tank 2, and the weight of system
The heart moves to liquid tank 3, and underwater glider produces lifts first moment；When ballast liquid enters 2 from liquid tank 3, the center of gravity of system is to liquid
Cabin 2 is moved, and underwater glider produces and buries first moment.
Claims (3)
1., for an attitude-control device for flying wing type underwater glider, it is characterized in that: include pumping plant cabin, four regulation liquid tanks,
Each regulation liquid tank have through hole up and down, four regulation liquid tanks are arranged in " ten " font, two relative regulation liquid tank upper ends
Through hole be connected by pipeline, the through hole of each regulation liquid tank lower end is connected with pumping plant cabin, under each regulation liquid tank by pipeline
It is respectively provided with electromagnetic valve on the pipeline that end is connected with pumping plant cabin, i.e. includes four electromagnetic valves.
Attitude-control device for flying wing type underwater glider the most according to claim 1, is characterized in that: described pumping plant
Cabin includes direct current generator and gear pump.
3. a control method based on the attitude-control device for flying wing type underwater glider described in claim 2, it is special
Levy and be:
Under original state, having the ballast liquid of certain volume in four regulation liquid tanks, remaining volume is full of air, four electromagnetic valves
Close All, flying wing type underwater glider is in stable poised state；
When water flying wing type underwater glider needs the attitude regulating roll, the electromagnetic valve that two, left and right regulation liquid tank connects is opened,
Direct current generator and gear pump work, the ballast liquid in left regulation liquid tank enters right regulation liquid tank, the air in the rightest regulation liquid tank
Entering left regulation liquid tank, the center of gravity of water flying wing type underwater glider regulates to the right the direction of liquid tank and moves, water flying wing type underwater gliding
Machine is tilted to the right, and when direct current generator and gear pump reverse operation, the center of gravity of water flying wing type underwater glider regulates liquid tank to the left
Direction is moved, and water flying wing type underwater glider is tilted to the left；
When underwater glider needs the attitude regulating pitching, the closed electromagnetic valve that two, left and right regulation liquid tank connects, upper and lower two
The electromagnetic valve connected on individual regulation liquid tank is opened, direct current generator and gear pump work, and the ballast liquid in upper regulation liquid tank enters to be lowered
Joint liquid tank, descends the air in regulation liquid tank to enter simultaneously and regulates liquid tank, and the center of gravity of water flying wing type underwater glider regulates downwards liquid
The direction in cabin is moved, and water flying wing type underwater glider produces lifts first moment, and when direct current generator and gear pump reverse operation, water flies
The center of gravity of wing formula underwater glider is adjusted up the direction of liquid tank and moves, and water flying wing type underwater glider produces and buries first moment；
Its constituting portion is divided and is included pumping plant cabin, four regulation liquid tanks and be connected to the pipeline between each cabin, and whole system is envelope
Close, and the pipeline between each cabin and cabin can resist extraneous hydraulic pressure, to ensure that internal system is a normal pressure
Space, pumping plant cabin arranges the gear pump of two-way operation, pump is furnished with code-disc by DC motor Driver, motor, can feed back
Going out the angle rotated, can calculate regulated quantity by the angle that calculating rotates, four liquid tanks are arranged in " ten " font, pass through
Pump coordinates, with valve, the scheduling realizing ballast liquid between each regulation liquid tank, thus reaches the purpose of center-of-gravity regulating position, works as pressure
When carrier fluid is dispatched between former and later two liquid tanks, the center of gravity of system, along the most movable, regulates the angle of pitch of underwater glider；
When ballast liquid is dispatched between the liquid tank of two, left and right, the center of gravity of system transversely moves left and right, the roll of regulation underwater glider
Angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410083129.3A CN103895846B (en) | 2014-03-08 | 2014-03-08 | A kind of attitude-control device for flying wing type underwater glider and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410083129.3A CN103895846B (en) | 2014-03-08 | 2014-03-08 | A kind of attitude-control device for flying wing type underwater glider and control method |
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| CN103895846A CN103895846A (en) | 2014-07-02 |
| CN103895846B true CN103895846B (en) | 2016-08-17 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516055B (en) * | 2016-10-27 | 2019-03-12 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of feedback self-check type underwater glider attitude regulating mechanism and control method |
| CN106904260A (en) * | 2017-03-21 | 2017-06-30 | 哈尔滨工程大学 | A kind of underwater dish aerodone |
| CN107608160A (en) * | 2017-11-01 | 2018-01-19 | 黎建军 | A kind of underwater photograph technical robot |
| CN107942687B (en) * | 2017-12-28 | 2021-03-26 | 上海海事大学 | Approximate dynamic programming optimization control method for attitude adjustment of underwater hot glider |
| CN108545162B (en) * | 2018-06-20 | 2023-04-28 | 天津中德应用技术大学 | Underwater gliding robot based on water jet driving |
| CN109606594B (en) * | 2018-11-13 | 2020-07-31 | 浙江大学 | Underwater glider with attitude control driven by memory alloy |
| CN110276131B (en) * | 2019-06-24 | 2022-07-26 | 西北工业大学 | Wing body fusion underwater glider appearance optimization method based on polynomial response surface model |
| CN112109866A (en) * | 2020-08-31 | 2020-12-22 | 浙江理工大学 | Underwater robot attitude control and floating and diving adjusting device |
| CN113071637B (en) * | 2021-04-16 | 2022-04-01 | 中国船舶科学研究中心 | Posture adjusting system of submersible with multiple pressure-resistant bodies |
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