CN107284631A - The submersible with vertical thrust device based on fluid lift force - Google Patents

Abstract

A submersible with a vertical propulsion device based on fluid lift, comprising: a submersible fuselage, wings arranged outside the submersible fuselage, a vertical propulsion device, an empennage part, a vertical empennage, a horizontal propulsion device, and a steering gear part And the control system installed inside the fuselage of the submersible. A pair of wings are symmetrically arranged on both sides of the fuselage of the submersible. The hydrodynamic action point of the wings is located at 1/4 of the chord length of the wings. wing, vertical propulsion device, empennage part, vertical empennage, and horizontal propulsion device are connected and output control commands respectively; the present invention makes the motion control of the whole submersible more flexible by redesigning the shape and structure of the wing, not only can realize High-speed, maneuverable navigation, and realize the deployment and recovery of submersibles with displacement less than mass.

Description

Submersible with vertical propulsion based on fluid lift

technical field

The invention relates to a technology in the field of underwater robots, in particular to a submersible with a displacement smaller than its mass, based on fluid lift and having a vertical propulsion device.

Background technique

The traditional unmanned submersible design only considers the two buoyancy states of neutral buoyancy and lighter than water, and does not consider the state of heavier than water. The submersible based on fluid lift and vertical propulsion device operates in water, so that the design of the submersible achieves a state heavier than water, and does not need to install huge buoyancy components, and its volume is much smaller than that of lighter-than-water submersibles. It can reflect its advantages in terms of speed, cost, and mobility. It can be used for terrain detection and target search at high speed and efficiently. In the future, it can be used for underwater long-distance heavy-duty transportation and expand the scope of use of existing submersibles.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the prior art, and proposes a submersible with a vertical propulsion device based on fluid lift. By redesigning the shape and structure of the wings, the motion control of the entire submersible is more flexible, not only can Realize high-speed, maneuverable navigation, and realize the deployment and recovery of submersibles with displacement less than mass.

The present invention is achieved through the following technical solutions:

The invention comprises: a submersible fuselage, wings arranged outside the submersible fuselage, a vertical propulsion device, an empennage part, a vertical empennage, a horizontal propulsion device, a steering gear part and a control system arranged inside the submersible fuselage, Among them: a pair of wings are symmetrically arranged on both sides of the submersible fuselage, the hydrodynamic action point of the wings is located at 1/4 of the chord length of the wing, and the empennage part and the steering gear part are respectively arranged at the tail of the submersible fuselage , the horizontal propulsion device is arranged at the tail tip of the submersible fuselage, and the control system is respectively connected with the wings, the vertical propulsion device, the tail part, the vertical tail, and the horizontal propulsion device to output control commands respectively.

There is at least one vertical propulsion device arranged on the fuselage of the submersible, and there may be multiple vertical propulsion devices according to requirements.

The sum of the water buoyancy of the submersible and the fluid lift generated during the submersible's navigation is equal to the weight of the submersible.

Since the wing is an important device for generating lift during the submersible’s navigation, if the position of the lift is far away from the center of the whole machine, a large moment will be generated, making the submersible prone to attitude changes on the vertical plane, resulting in the inability of the submersible to navigate. Maintain a steady cruising state. Therefore, the wings are symmetrically arranged on both sides of the submersible fuselage, and the hydrodynamic action point of the whole machine is located behind the longitudinal position of the center of gravity of the whole submersible, that is, the 1/4 position of the chord length of the wings.

The control system includes: a vertical propulsion mode control module, a fluid lift mode control module and a conversion mode control module, wherein: the vertical propulsion mode control module is connected with the vertical propeller and transmits the speed information of the vertical propeller, and the fluid lift mode control module It is connected with the empennage part and the vertical empennage and transmits the information of the empennage angle. The conversion mode control module is respectively connected with the vertical propeller and the empennage part and the vertical empennage and transmits the information of the rotational speed and the angle of the empennage.

The inside of the submersible body is further equipped with a positioning system, a sensing system and a signal transceiving system, wherein: the positioning system is connected with the control system and transmits the underwater position information of the submersible; the sensing system is connected with the control system and transmits the information of the submersible The depth information in the water, the height information from the bottom, the speed information of HangSky, the attitude information, the angular velocity information, the acceleration information, the obstacle information, etc.; the signal transceiver system is connected with the control system and transmits the signal instructions given by the water surface.

The present invention relates to the automatic control depth method of above-mentioned submersible, comprises the following steps:

1) In the vertical propulsion mode, the vertical propulsion mode control module obtains the depth information in the water, and controls the speed of the vertical propeller to control the depth of the submersible through the decoupled attitude control algorithm.

2) In the fluid lift mode, the fluid lift mode control module obtains speed and depth information, controls the speed of the tail propeller and the deflection angle of the tail part and the vertical tail through the decoupled attitude control algorithm to control the depth of the submersible.

3) In the conversion mode, the conversion mode control module obtains the navigation speed information and the water depth information of the submersible, establishes a conversion corridor, constructs a lift observer, observes the lift force through the speed information, and controls the vertical propeller, the tail part, and the vertical tail. Realize the mode conversion of depth maintenance, from vertical propulsion mode to fluid lift mode.

technical effect

Compared with the existing technology, the present invention aims at the rapid development of engineering and application technologies such as underwater target detection, emergency search and rescue, environmental monitoring, engineering implementation, resource exploration, etc., and breaks through the design concept, technical limitations and application of existing submersibles It has advanced performances such as environment perception, dynamic path planning, and intelligent autonomous control. The submersible generates lift through underwater high-speed navigation to balance the underwater weight. When the submersible needs to be deployed and recovered, there is no sailing speed sufficient to generate lift. At this time, the vertical propulsion device configured can be used to balance the underwater weight. , making it possible to deploy and recover the submersible.

Description of drawings

Fig. 1 is the top view of the present invention;

Fig. 2 is a side sectional view of the present invention;

In the figure: vertical propulsion device 1, wing 2, horizontal tail 3, horizontal propulsion device 4, steering gear part 5, submersible fuselage 6, vertical tail 7, shell 8.

detailed description

Example 1

As shown in Figures 1 and 2, the present embodiment includes: a submersible fuselage 6, a pair of wings 2 arranged on the submersible fuselage 6, a vertical propulsion device 1 arranged on the submersible fuselage 6, The empennage part and the steering gear part 5, a pair of vertical tail fins 3, the steering gear part 5 and the horizontal propulsion device 4, wherein: the wings 2 are symmetrically arranged on both sides of the submersible fuselage 6, and the hydrodynamic action point of the whole machine is located in the submersible. The longitudinal position of the center of gravity of the whole machine is behind, the empennage part and the steering gear part 5 are arranged on the tail of the submersible fuselage 6, and the horizontal propulsion device 4 is arranged on the tail tip of the submersible fuselage 6.

The sum of the water buoyancy of the submersible and the fluid lift generated during the submersible's navigation is equal to the weight of the submersible. Since the wing 2 is an important device for generating lift during the submersible's navigation, if the lift position is far away from the center of the whole machine, a large moment will be generated, making the submersible prone to attitude changes on the vertical plane, resulting in Unable to maintain a stable cruise state. Therefore, the wings 2 are symmetrically arranged on both sides of the submersible fuselage 6, and the hydrodynamic action point of the whole machine is located behind the longitudinal position of the center of gravity of the whole submersible.

The submersible fuselage 6 includes: a water-permeable shell and a pressure-resistant cabin, wherein: the pressure-resistant cabin is sealed and arranged inside the shell, the stabilizing control mechanism is located in the pressure-resistant cabin, and the wings 2, the power unit and the landing gear are respectively connected to the water-resistant shell Fixed connection.

The water-permeable casing includes: a head of the water-permeable casing, a middle part of the water-permeable casing and a tail of the water-permeable casing, wherein: two ends of the middle part of the water-permeable casing are respectively connected to the head of the water-permeable casing and the tail of the water-permeable casing.

The head of the permeable shell is a hemisphere, the middle part of the permeable shell is a rotating body with an aspect ratio between 4 and 6, and the tail of the permeable shell is tapered to have a low fluid resistance shape.

Described wing 2 is a low Reynolds number airfoil structure, has neutral buoyancy in water, and described wing 2 only provides fluid lift, does not provide buoyancy, to balance the gravity of underwater aircraft in water, in addition wing 2 It also has a certain stabilizing effect.

The submersible fuselage 6 is internally provided with a control system, a positioning system, a sensor system and a signal transceiving system, wherein the control system is connected with the propeller and the steering gear part 5 and transmits motion control signals, so that the submersible can adjust the navigation Speed and attitude; the positioning system is connected to the control system and transmits the underwater position information of the submersible; the sensor system is connected to the control system and transmits the underwater depth information, bottom height information, navigation information speed information, attitude information, and angular velocity information of the submersible , acceleration information, obstacle information, etc.; the signal transceiver system is connected to the control system and transmits the signal instructions given by the water surface.

The horizontal propulsion device 4 includes: a battery, a motor and a propeller, wherein the battery and the motor are fixed inside the submersible fuselage 6, the output shaft of the motor is connected to the propeller in a waterproof manner, and the propeller is located outside the housing 8, and the battery and the motor are respectively It is connected with the stable control structure to provide the energy and power needed to control the movement of the underwater aircraft.

The empennage part includes: a horizontal empennage 3 and a vertical empennage 7, wherein: the vertical empennage 7 and the horizontal empennage 3 are all fixedly arranged at the end of the submersible fuselage 6 and are respectively connected with the control system.

The horizontal stabilizer 3 includes: a horizontal stabilizer and a horizontal rudder, wherein the horizontal stabilizer is fixedly arranged at the rear of the casing and symmetrically distributed on both sides of the longitudinal section of the casing, and the horizontal rudder is located behind the horizontal stabilizer and is movable. It is arranged at the rear of the casing and is located on the same level as the horizontal stabilizer.

The vertical stabilizer 7 includes: a vertical stabilizer and a vertical rudder, wherein: the vertical stabilizer is fixedly arranged at the rear of the shell and is located in the vertical symmetry plane of the shell, and the vertical rudder is located behind the vertical stabilizer and is movably arranged on the shell The rear part of the body is located on the same vertical plane as the vertical stabilizer.

The steering gear part 5 includes: a vertical rudder and a horizontal rudder with an airfoil profile with low fluid resistance. When the horizontal rudder rotates, it generates a moment in the vertical direction, which can adjust the pitch of the underwater aircraft. When the vertical rudder rotates, it generates The moment in the horizontal direction adjusts the heading angle of the underwater aircraft.

The present invention works in the following way: at the design speed, the lift generated by the wing 2 is just in balance with the submersible's gravity in the water, the submersible is suspended in the water, and the horizontal rudder is used to adjust the angle of attack to adjust the navigation depth; the submersible needs to be floated , speed up the propeller speed, at this time the wing 2 produces greater lift, and adjust the rudder angle of the horizontal tail rudder, so that the submersible produces a positive angle of attack (the head is positive), and the submersible establishes a forward and backward position under the action of the lift. Ascent speed, navigating in water; when it is necessary to hide in water or lower the navigation depth, turn off the propulsion device, and the submersible will move forward under inertia. With a negative angle of attack (head up is positive), the submersible establishes its forward and dive speed under the action of its own gravity and lift, sails quietly to the desired depth, and realizes a concealed unpowered dive. During the sailing process, the vertical tail rudder is adjusted to generate a yaw angle in the plane of the wing 2 and change the space motion attitude of the submersible. 2 The yaw moment in the plane. The space maneuver of the submersible on the plane of the wing 2 is realized through the joint control of the thrust and yaw moment in the plane of the wing 2 and the space attitude.

Compared with the prior art, the present invention balances its weight in water by adjusting the vertical propulsion mechanism 1 so that the wings 2 generate lift. The present invention does not rely on buoyancy but balances its remaining weight in water through the fluid lift obtained during the submersible's navigation. weight. Because there is no need to install huge buoyancy components, it can save a lot of space and energy, and greatly improve the load capacity. Its volume is much smaller than that of lighter-than-water submersibles, and it can be reflected in speed, cost, noise, maneuverability, concealment, etc. its advantages. Since the submersible generates lift through underwater high-speed navigation to balance the underwater weight, and when the submersible needs to be deployed and recovered, there is no navigation speed sufficient to generate lift. At this time, the vertical propulsion device configured can be used to balance the underwater weight. The weight makes it possible to deploy and recover the submersible.

The above specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The scope of protection of the present invention is subject to the claims and is not limited by the above specific implementation. Each implementation within the scope is bound by the invention.

Claims (9)

1. a kind of submersible with vertical thrust device based on fluid lift force, it is characterised in that including：Submersible fuselage, It is arranged at the wing of submersible external fuselage, vertical propulsion plant, empennage portion, vertical tail, horizontal propulsion device, steering wheel portion Divide and be arranged at the control system of submersible fuselage interior, wherein：A pair of wings are symmetricly set in the both sides of submersible fuselage, The hydrodynamism point of wing is located at 1/4 position of wing chord length, and empennage portion and steering wheel part are respectively arranged at submersible machine The afterbody of body, horizontal propulsion device is arranged at the tail point end of submersible fuselage, and control system is filled with wing, vertical propulsion respectively Put, empennage portion, vertical tail, horizontal propulsion device are connected and distinguish output control and instruct；

The fluid lift force sum that the buoyancy of described submersible is produced during being navigated by water with submersible is equal to the weight of submersible Amount；

Described wing only provides fluid lift force, does not provide buoyancy, therefore the buoyancy of described submersible navigates with submersible The lift sum produced during row is equal to the weight of submersible；

The blade of described vertical propulsion plant is located in the thickness direction of Airfoil Sections, and wing hydrodynamism point submersible The lengthwise position of machine gravity；

Described control system, including：Vertical thrust mode control module, fluid lift force mode control module and translative mode Control module, wherein：Vertical thrust mode control module is connected with vertical pusher and transmits vertical pusher rotary speed information, stream Body lift mode control module is connected with empennage portion, vertical tail and transmits empennage angle information, translative mode control module All it is connected with vertical pusher and empennage portion, vertical tail respectively and transmits rotating speed and empennage angle information.

2. submersible according to claim 1, it is characterized in that, described submersible fuselage interior is further provided with positioning system System, sensor-based system and signal receiving and transmitting system, wherein：Alignment system is connected with control system and transmits position in the water of submersible Information；Sensor-based system is connected with control system and transmits depth information in the water of submersible, from bottom elevation information, boat letter speed letter Breath, attitude information, angular velocity information, acceleration information, obstacle information etc.；Signal receiving and transmitting system is connected and passed with control system The signal instruction that water delivery face is given.

3. submersible according to claim 1, it is characterized in that, described submersible fuselage includes：Permeable shell and pressure-resistant Cabin, wherein：Pressure-resistant cabin sealing is arranged at enclosure, and stable operating mechanism is located in pressure-resistant cabin, wing, power set and rises and falls Device is fixedly connected with permeable shell respectively.

4. submersible according to claim 3, it is characterized in that, described permeable shell includes：It is permeable case head, permeable With permeable shell afterbody in the middle part of shell, wherein：Two ends in the middle part of permeable shell connect permeable case head and permeable shell respectively Afterbody.

5. submersible according to claim 4, it is characterized in that, described permeable case head is hemisphere, and this is permeable outer Point is received in the end of shell afterbody, with low fluid resistance profile.

6. submersible according to claim 1, it is characterized in that, described horizontal propulsion device includes：Battery, motor and spiral shell Oar is revolved, wherein：Battery and motor are fixedly installed on submersible fuselage interior, and the output shaft of motor is connected with propeller waterproof, spiral shell Revolve oar and be located at hull outside, battery and motor are connected required to provide control underwater airplane motion with stablizing handle structure respectively The energy and power wanted.

7. submersible according to claim 1, it is characterized in that, described empennage portion includes：Tailplane and vertical end The wing, wherein：Vertical tail and tailplane are fixedly installed in the end of submersible fuselage and are connected respectively with control system Connect；The tailplane includes：Horizontal stabilizer and hydroplane, wherein：Horizontal stabilizer is fixedly installed on the rear portion of housing and right Title is distributed in housing central fore-and-aft vertical plane both sides, hydroplane be located at the rear of horizontal stabilizer and be movably set in housing rear portion and with Horizontal stabilizer is located in same level, and the vertical tail includes：Fixed fin and vertical rudder, wherein：Fixed fin It is fixedly installed on the rear portion of housing and in the vertical symmetry plane of housing, vertical rudder is located at fixed fin rear and activity is set It is placed in the rear portion of housing and is located at fixed fin on same vertical plane.

8. submersible according to claim 1, it is characterized in that, described steering wheel part includes：With low fluid resistance The vertical rudder and hydroplane of aerofoil profile, when hydroplane is rotated, produce the torque of vertical direction to adjust the vertical of underwater airplane Incline, when vertical rudder is rotated, produce the torque of horizontal direction to adjust the bow of underwater airplane to angle.

9. a kind of submersible according to any of the above-described claim automatically controls depth method, it is characterised in that including with Lower step：

1) under vertical thrust pattern, vertical thrust mode control module obtains depth information in water, passes through the gesture stability of decoupling Algorithm, controls the rotating speed of vertical pusher to control the depth of submersible；

2) under fluid lift force pattern, fluid lift force mode control module obtains speed and depth information, passes through the posture control of decoupling Algorithm processed, control afterbody propeller rotating speed and empennage portion, the deflection angle of vertical tail control the depth of submersible；

3) under translative mode, depth information in the headway information and water of translative mode control module acquisition submersible is set up Change corridor, construct lift observer, lift is observed by velocity information, by control vertical pusher and empennage portion, Vertical tail, realizes the patten transformation that depth is kept, from vertical thrust patten transformation to fluid lift force pattern.