CN107284631A - The submersible with vertical thrust device based on fluid lift force - Google Patents
The submersible with vertical thrust device based on fluid lift force Download PDFInfo
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- CN107284631A CN107284631A CN201710443688.4A CN201710443688A CN107284631A CN 107284631 A CN107284631 A CN 107284631A CN 201710443688 A CN201710443688 A CN 201710443688A CN 107284631 A CN107284631 A CN 107284631A
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- submersible
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- wing
- fuselage
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of submersible with vertical thrust device based on fluid lift force, including：Submersible fuselage, the wing for being arranged at submersible external fuselage, vertical propulsion plant, empennage portion, vertical tail, horizontal propulsion device, steering wheel part and the control system for being arranged at submersible fuselage interior, 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 control system is connected with wing, vertical propulsion plant, empennage portion, vertical tail, horizontal propulsion device and distinguishes output control respectively to be instructed；The present invention is redesigned by shape and structure to wing so that the motion control of whole latent device is more flexible, can not only realize high speed, motor-driven navigation, and realize that displacement lays recovery less than quality submersible.
Description
Technical field
The present invention relates to a kind of technology in underwater robot field, specifically a kind of displacement is less than quality, is based on
Fluid lift force and the submersible with vertical thrust device.
Background technology
Traditional unmanned submersible's design only considers neutral buoyancy and is lighter than two kinds of buoyancy states of water, does not account for overweighting water
State.And in the submersible operation and water based on fluid lift force and vertical thrusters device so that submersible design is realized
The state of water is overweighted, and huge buoyancy member need not be installed, its volume is much smaller than the submersible for being lighter than water type, Neng Gou
Its advantage is embodied in terms of speed, cost, mobility, can at a high speed, be efficiently used for terrain detection and target search, future is available
In long-distance heavy haul transport under water, the use category of existing submersible is expanded.
The content of the invention
The present invention is directed to deficiencies of the prior art, proposes a kind of being filled with vertical thrust based on fluid lift force
The submersible put, is redesigned by shape and structure to wing so that the motion control of whole latent device is more flexible,
High speed, motor-driven navigation can be not only realized, and realizes that displacement lays recovery less than quality submersible.
The present invention is achieved by the following technical solutions：
The present invention includes：Submersible fuselage, the wing for being arranged at submersible external fuselage, vertical propulsion plant, empennage portion
Point, vertical tail, horizontal propulsion device, steering wheel part and the control system for being arranged at submersible fuselage interior, wherein：A pair
Wing is symmetricly set in the both sides of submersible fuselage, and the hydrodynamism point of wing is located at 1/4 position of wing chord length, empennage portion
Divide the afterbody that submersible fuselage is respectively arranged at steering wheel part, horizontal propulsion device is arranged at the tail point end of submersible fuselage,
Control system is connected with wing, vertical propulsion plant, empennage portion, vertical tail, horizontal propulsion device and exported respectively respectively
Control instruction.
The described vertical thrust device device for being arranged at submersible fuselage is at least one, can be hung down according to demand with multiple
Straight propulsion plant.
The fluid lift force sum that the buoyancy of described submersible is produced during being navigated by water with submersible is equal to submersible
Weight.
Because wing is the important device of generation lift during submersible navigation, if the remote complete machine in the lift position
Center, it will produce larger torque so that submersible easily produces attitudes vibration in vertical plane, causes submersible to navigate by water process
It can not keep stablizing cruising condition.Therefore, described wing is symmetrically arranged in the both sides of submersible fuselage, and full machine hydrodynamic(al) masterpiece
With point positioned at submersible machine gravity lengthwise position rearward, i.e. 1/4 position of wing chord length.
Described control system, including：Vertical thrust mode control module, fluid lift force mode control module and conversion
Mode control module, wherein：Vertical thrust mode control module, which is connected with vertical pusher and transmits vertical pusher rotating speed, to be believed
Breath, fluid lift force mode control module is connected with empennage portion, vertical tail and transmits empennage angle information, and translative mode is controlled
Module is all connected with vertical pusher and empennage portion, vertical tail and transmits rotating speed and empennage angle information respectively.
Described submersible fuselage interior is further provided with alignment system, sensor-based system and signal receiving and transmitting system, wherein：
Alignment system is connected with control system and transmits positional information in the water of submersible；Sensor-based system is connected and transmitted with control system
Depth information in the water of submersible, from bottom elevation information, boat letter velocity information, attitude information, angular velocity information, acceleration letter
Breath, obstacle information etc.；Signal receiving and transmitting system is connected with control system and transmits the signal instruction that the water surface is given.
Depth method is automatically controlled the present invention relates to above-mentioned submersible, is comprised the following steps：
1) under vertical thrust pattern, vertical thrust mode control module obtains depth information in water, passes through the posture of decoupling
Control algolithm, 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 appearance of decoupling
State control algolithm, 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,
Conversion corridor is set up, lift observer is constructed, lift is observed by velocity information, by controlling vertical pusher and empennage portion
Point, vertical tail, realize depth keep patten transformation, from vertical thrust patten transformation to fluid lift force pattern.
Technique effect
Compared with prior art, the present invention for marine Underwater Target Detection, emergency rescue, environmental monitoring, engineering construction,
The fast-developing demand of the engineerings such as resource exploration and application technology, breaks through design concept, technology restriction and the fortune of existing submersible
With mode, possess the advanced features such as environment sensing, active path planning, intelligent independent control.This submersible passes through underwater high-speed
Navigation, which produces lift, is used for weight under equilibrium water, and when latent device needs to lay recovery, is not enough to produce the navigation speed of lift
Degree, the vertical propulsion plant now configured can be used to weight under equilibrium water so that the recovery that lays of latent device is possibly realized.
Brief description of the drawings
Fig. 1 is top view of the present invention；
Fig. 2 is sectional view of the present invention；
In figure：Vertical propulsion plant 1, wing 2, tailplane 3, horizontal propulsion device 4, steering wheel part 5, submersible fuselage
6th, vertical tail 7, housing 8.
Embodiment
Embodiment 1
As depicted in figs. 1 and 2, the present embodiment includes：Submersible fuselage 6, a pair of wings being arranged on submersible fuselage 6
2nd, be arranged at vertical propulsion plant 1, empennage portion and steering wheel part 5 on submersible fuselage 6, a pair of vertical tails 3 and
Steering wheel part 5 and horizontal propulsion device 4, wherein：Wing 2 is symmetricly set in the both sides of submersible fuselage 6, full machine hydrodynamism
Point positioned at submersible machine gravity lengthwise position rearward, empennage portion and steering wheel part 5 are arranged at the tail of submersible fuselage 6
Portion, horizontal propulsion device 4 is arranged at the tail point end of submersible fuselage 6.
The fluid lift force sum that the buoyancy of described submersible is produced during being navigated by water with submersible is equal to submersible
Weight.Because wing 2 is the important device of generation lift during submersible navigation, if the remote complete machine in the lift position
Center, it will produce larger torque so that submersible easily produces attitudes vibration in vertical plane, causes submersible to navigate by water process
It can not keep stablizing cruising condition.Therefore, described wing 2 is symmetrically arranged in the both sides of submersible fuselage 6, full machine hydrodynamic(al) masterpiece
It is located at the lengthwise position of submersible machine gravity rearward with point.
Described submersible fuselage 6 includes：Permeable shell and pressure-resistant cabin, wherein：Pressure-resistant cabin sealing is arranged at enclosure,
Stable operating mechanism is located in pressure-resistant cabin, and wing 2, power set and take-off and landing device are fixedly connected with permeable shell respectively.
Described permeable shell includes：With permeable shell afterbody in the middle part of permeable case head, permeable shell, wherein：It is permeable
Two ends in the middle part of shell connect permeable case head and permeable shell afterbody respectively.
Described permeable case head is for revolution of the draw ratio between 4~6 in the middle part of hemisphere, described permeable shell
Point is received in body, the end of the permeable shell afterbody, with low fluid resistance profile.
Described wing 2 is low Reynolds number airfoil structure, has neutral buoyancy in water, and described wing 2 only provides stream
Body lift, does not provide buoyancy, to balance gravity of the underwater airplane in water, and wing 2 also has certain stable manipulation effect in addition.
The described inside of submersible fuselage 6 is provided with control system, alignment system, sensor-based system and signal receiving and transmitting system,
Wherein：Control system is connected with propeller and steering wheel part 5 and transmits motion control signal so that submersible can adjust navigation
Speed and posture；Alignment system is connected with control system and transmits positional information in the water of submersible；Sensor-based system and control system
System is connected and transmits depth information in the water of submersible, from bottom elevation information, boat letter velocity information, attitude information, angular speed letter
Breath, acceleration information, obstacle information etc.；Signal receiving and transmitting system, which is connected with control system and transmits the signal that the water surface gives, to be referred to
Order.
Described horizontal propulsion device 4 includes：Battery, motor and propeller, wherein：Battery and motor are fixedly installed on latent
Inside hydrophone fuselage 6, the output shaft of motor is connected with propeller waterproof, and propeller is located at outside housing 8, battery and motor difference
It is connected with stablizing handle structure to provide the energy and power required for control underwater airplane motion.
Described empennage portion includes：Tailplane 3 and vertical tail 7, wherein：Vertical tail 7 and tailplane 3 are solid
Surely it is arranged in the end of submersible fuselage 6 and is connected respectively with control system.
Described tailplane 3 includes：Horizontal stabilizer and hydroplane, wherein：Horizontal stabilizer is fixedly installed on housing
Rear portion and be symmetrically distributed in housing central fore-and-aft vertical plane both sides, hydroplane be located at horizontal stabilizer rear and be movably set in housing
Rear portion and with horizontal stabilizer be located at same level on.
Described vertical tail 7 includes：Fixed fin and vertical rudder, wherein：Fixed fin is fixedly installed on housing
Rear portion and in the vertical symmetry plane of housing, vertical rudder is located at fixed fin rear and is movably set in the rear portion of housing
And be located at fixed fin on same vertical plane.
Described steering wheel part 5 includes：The vertical rudder and hydroplane of aerofoil profile with low fluid resistance, work as hydroplane
During rotation, the torque of vertical direction is produced, the trim of underwater airplane can be adjusted, the power of horizontal direction is produced when vertical rudder is rotated
Square, adjusts the bow of underwater airplane to angle.
The present invention is operated in the following manner：Under design speed, the lift that wing 2 is produced exists with submersible just
Gravitational equilibrium in water, submersible is suspended in water and navigated by water, and adjusts the angle of attack to adjust keel depth by hydroplane；Need submersible
During floating, accelerate revolution speed of propeller, now wing 2 produces bigger lift, and adjusts the rudder angle of horizontal tail vane, produces submersible
The raw positive angle of attack (coming back as just), submersible is under lift effect, it is established that advance and the rate of climb, is navigated by water in water；Need
Hidden to close propulsion plant in water or when reducing keel depth, submersible advances under inertia, and now wing 2, which is produced, rises
Power reduces, and adjusts the rudder angle of horizontal tail vane, submersible is produced the negative angle of attack (coming back as just), submersible in self gravitation and
Under lift effect, it is established that advance and diving speed, undisturbedly navigate by water to desired depth, realize hidden unpowered dive.Boat
During row, vertical tail vane is adjusted, yaw angle is produced in the plane of wing 2, changes submersible spatial movement posture, passes through simultaneously
The cooperation of two propulsion plant thrust, the common thrust produced along y direction, and the yawing in the plane of wing 2.
By jointly controlling to thrust in the plane of wing 2 and yawing and spatial attitude, realize submersible in the plane of wing 2
Space maneuver.
Compared with prior art, the present invention by adjust vertical propulsive mechanism 1 so that wing 2 produce lift come trim its
Weight in water, the fluid lift force that the present invention is obtained in being navigated by water not against buoyancy but by submersible balances its remaining weight in water
Amount.Due to huge buoyancy member need not be installed, big quantity space and energy can be saved, load capacity is greatly enhanced, its
Volume is much smaller than the submersible for being lighter than water type, can embody its in terms of speed, cost, noise, mobility, disguise excellent
Gesture.It is used for weight under equilibrium water because this submersible produces lift by underwater high-speed navigation, and when latent device needs to lay recovery
When, it is not enough to produce the headway of lift, the vertical propulsion plant now configured can be used to weight under equilibrium water so that
The recovery that lays of latent device is possibly realized.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710443688.4A CN107284631A (en) | 2017-06-13 | 2017-06-13 | The submersible with vertical thrust device based on fluid lift force |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710443688.4A CN107284631A (en) | 2017-06-13 | 2017-06-13 | The submersible with vertical thrust device based on fluid lift force |
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| CN107284631A true CN107284631A (en) | 2017-10-24 |
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| CN201710443688.4A Pending CN107284631A (en) | 2017-06-13 | 2017-06-13 | The submersible with vertical thrust device based on fluid lift force |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545162A (en) * | 2018-06-20 | 2018-09-18 | 天津中德应用技术大学 | Underwater spectroradiometer based on water jet driving |
| CN108706078A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | A kind of autonomous type aquafarm monitoring device |
| CN109533243A (en) * | 2018-12-06 | 2019-03-29 | 上海交通大学 | Deep-sea unmanned remote-controlled vehicle |
| CN110160412A (en) * | 2019-06-21 | 2019-08-23 | 北京机械设备研究所 | Submarine navigation device attitude control method based on air layers reducing resistance technology |
| CN110242304A (en) * | 2019-07-16 | 2019-09-17 | 北京先驱高技术开发公司 | Deep-sea unmanned mining system under water |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN111038671A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工程大学 | Submarine three-dimensional terrain surveying and mapping unmanned underwater vehicle |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN113050666A (en) * | 2021-03-26 | 2021-06-29 | 湖南大学 | Depth and longitudinal decoupling control method and system for underwater autonomous vehicle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN108706078A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | A kind of autonomous type aquafarm monitoring device |
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| CN109533243A (en) * | 2018-12-06 | 2019-03-29 | 上海交通大学 | Deep-sea unmanned remote-controlled vehicle |
| CN110160412B (en) * | 2019-06-21 | 2021-06-29 | 北京机械设备研究所 | Underwater vehicle attitude control method based on air film drag reduction technology |
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| CN110242304A (en) * | 2019-07-16 | 2019-09-17 | 北京先驱高技术开发公司 | Deep-sea unmanned mining system under water |
| CN110641663A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN110641663B (en) * | 2019-09-21 | 2021-08-20 | 天津大学 | Large underwater vehicle with self-disposable wings |
| CN111038671A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工程大学 | Submarine three-dimensional terrain surveying and mapping unmanned underwater vehicle |
| CN112977776A (en) * | 2021-03-02 | 2021-06-18 | 南京航空航天大学 | Multi-section combined and wingspan folding underwater robot and motion mode |
| CN112977776B (en) * | 2021-03-02 | 2022-05-03 | 南京航空航天大学 | Motion mode of multi-section combined and wingspan folding underwater robot |
| CN113050666A (en) * | 2021-03-26 | 2021-06-29 | 湖南大学 | Depth and longitudinal decoupling control method and system for underwater autonomous vehicle |
| CN113050666B (en) * | 2021-03-26 | 2022-05-03 | 湖南大学 | Depth and longitudinal decoupling control method and system for underwater autonomous vehicle |
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