CN108423144A - A kind of master control system and its control method of single rotor duct underwater unmanned vehicle - Google Patents
A kind of master control system and its control method of single rotor duct underwater unmanned vehicle Download PDFInfo
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- CN108423144A CN108423144A CN201810448472.1A CN201810448472A CN108423144A CN 108423144 A CN108423144 A CN 108423144A CN 201810448472 A CN201810448472 A CN 201810448472A CN 108423144 A CN108423144 A CN 108423144A
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Classifications
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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Abstract
The invention discloses a kind of master control system and its control method of single rotor duct underwater unmanned vehicle, the master control system includes：Master controller, electric machine controller, steering engine controller and remote-control receiver.The present invention can generate various control power and control moment using more steering engine flow deflector control modes so that underwater unmanned vehicle has very high mobility and great flexibility.In addition, using to the control of the first X rudders steering engine and the 2nd X rudder steering engines realize the underwater unmanned vehicle radius of gyration be zero, quick buoyance lift the characteristics of, the detect operation that can be widely applied to narrow waters and shallow water area compensates for the insufficient disadvantage of existing Large Underwater aircraft mobility.
Description
Technical field
The present invention relates to underwater unmanned vehicle technical fields, and in particular to a kind of single rotor duct underwater unmanned vehicle
Master control system and its control method.
Background technology
Current existing submarine navigation device mostly uses level and sets rolling body-rotation design, using propeller postposition or in the level of setting push away
Into structure, turned to using rudder, under the conditions of lowsteaming, direction controlling is less efficient, and exposed propeller is also easy to produce
Cavitation effect, noise is larger, has volume larger, and low speed manipulation response is slower, and the radius of gyration is larger, and flight path is apparent etc. is difficult to gram
The shortcomings that taking.It especially is difficult to realize effectively navigate by water in narrow waters, shallow water area rudder is easily touched.
In aviation field, culvert type aircraft has extremely strong environmental adaptability and maneuverability excellent built in level at present
Gesture.For the deficiency of traditional submarine navigation device, in conjunction with the technical advantage of culvert type flying vehicles control, according to culvert type unmanned plane
Structure has larger similitude with propeller arrangement built in submarine navigation device.
Currently, duct vehicle technology has been widely used.Due to air and the similar fluid property of flow, can borrow
It reflects the mentality of designing and design scheme of existing single rotor duct aircraft, carries out innovative design.
Invention content
The purpose of the present invention is to provide a kind of master control systems and its controlling party of single rotor duct underwater unmanned vehicle
Method, to solve, current submarine navigation device direction controlling under the conditions of lowsteaming is less efficient, the radius of gyration is larger narrow
Waters is difficult to realize the problem of effectively navigating by water.
To achieve the above object, the present invention provides a kind of master control system of single rotor duct underwater unmanned vehicle, institutes
Stating master control system includes：Master controller, electric machine controller, steering engine controller and remote-control receiver, the master of the remote-control receiver
Controller control instruction signal output end is connected to the control instruction signal receiving end of the master controller, the master controller
Motor control instruction signal output end is connected to the motor control instruction signal input part of the electric machine controller, the main control
The servos control command signal output end of device is connected to the servos control command signal input terminal of the steering engine controller, the electricity
The motor control instruction signal output end of machine controller is connected to the motor control instruction signal input part of engine, the steering engine
Controller passes through the first X rudder servos control command signals output end, the 2nd X rudders servos control command signal output end and straight rudder rudder
Machine control instruction signal output end is respectively connected to the first X rudder servos control command signals input terminal of the first X rudder steering engines, second
2nd X rudders servos control command signal input terminal of X rudder steering engines and the straight rudder servos control command signal input terminal of straight rudder steering engine,
The engine is rotated by drive shaft driving installation to the power source propeller in duct, the first X rudders steering engine and described
2nd X rudders steering engine pulls installation to duct internally-powered source propeller from surely by the first X rudders pull rod and the 2nd X rudder pull rods respectively
The first X rudders flow deflector below rudder system flow-guide fan and the 2nd X rudder flow deflector wallowing motions, the straight rudder steering engine pass through rudder pulling rod
Pull installation to the straight rudder flow deflector wallowing motion at the lower part outlet of duct.
Further, the remote-control receiver pairing is provided with remote controler and receives the remote control instruction from remote controler
Signal.
Further, several carry component controls command signal output ends are provided on the remote-control receiver, if cladding
The carry component controls command signal that load component controls command signal output end is respectively connected to corresponding carry component is defeated
Enter end.
Further, the carry component is installed on the side wall of duct and including underwater photograph technical device and/or underwater visit
Survey device and/or underwater positioning device and/or mechanical arm.
Further, the master control system further includes power supply, and the power supply is separately connected by power supply circuit
To master controller, electric machine controller, steering engine controller, remote-control receiver, motor, the first X rudders steering engine, the 2nd X rudders steering engine, straight
Rudder steering engine and several carry components.
Further, the motor, the first X rudders steering engine, the 2nd X rudders steering engine, the straight rudder steering engine and institute
It states and is respectively arranged with motor electromagnetic switch, the first X rudder steering engines electromagnetic switch, the 2nd X rudders on the power supply circuit between power supply
Steering engine electromagnetic switch and straight rudder steering engine electromagnetic switch, the motor electromagnetic switch are connected to the motor control instruction of electric machine controller
Signal output end, the first X rudder steering engines electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and the straight rudder steering engine electromagnetism
Switch is respectively connected to the first X rudder servos control command signals output end of steering engine controller, the 2nd X rudder servos controls instruction letter
Number output end and straight rudder servos control command signal output end.
The invention also discloses a kind of control method of the master control system of single rotor duct underwater unmanned vehicle, the controls
Method processed includes：Remote controler sends remote control instruction；Remote-control receiver receives the remote control command signal from remote controler；
Remote-control receiver judges the type of the remote control command signal received；The type of remote control command signal is master controller
When control instruction signal, the command signal receiving terminal of master controller is sent to by main controller controls command signal output end；
Master controller judges the type of the main controller controls command signal received；The type of main controller controls command signal is electricity
When machine control instruction signal, the motor control instruction signal of electric machine controller is sent to by motor control instruction signal output end
Input terminal；Motor control instruction signal is sent to the electricity of engine by motor control instruction signal output end by electric machine controller
Machine control instruction signal input part；Engine realizes water by drive shaft driving installation to the power source propeller rotation in duct
Lower unmanned vehicles float or suspend；When the type of main controller controls command signal is servos control command signal, pass through rudder
Machine control instruction signal output end is sent to the servos control command signal input terminal of steering engine controller；Steering engine controller judgement connects
The type of the servos control command signal received；When the type of servos control command signal is X rudder servos control command signals, area
It is the first X rudder servos control command signals or the 2nd X rudder servos control command signals to divide X rudder servos control command signals；By
One X rudder servos control command signals and the 2nd X rudder servos control command signals are instructed by the first X rudder servos controls respectively simultaneously
The first X rudder servos controls that signal output end and the 2nd X rudder servos control command signal output ends are sent to the first X rudder steering engines refer to
Enable the 2nd X rudder servos control command signal input terminals of signal input part and the 2nd X rudder steering engines；First X rudders steering engine and the 2nd X rudders
Steering engine pulls installation to duct internally-powered source propeller from steady rudder simultaneously by the first X rudders pull rod and the 2nd X rudders pull rod respectively
It is the first X rudders flow deflector below flow-guide fan and the 2nd X rudders flow deflector to different directions wallowing motion, generates underwater unmanned navigation
Device realizes the turning moment needed for rotation action；When the type of servos control command signal is straight rudder servos control command signal,
The straight rudder servos control command signal input terminal of straight rudder steering engine is sent to by straight rudder servos control command signal output end；And it is straight
Rudder steering engine pulls installation to the straight rudder flow deflector wallowing motion at the lower part outlet of duct to realize aircraft by rudder pulling rod
Forward or backward acts.
Further, when the type of the remote control command signal is carry component controls command signal, the remote control
Receiver distinguishes carry component controls instruction signal type, is sent to respectively by corresponding carry component controls command signal output end
The carry component controls command signal input terminal of self-corresponding carry component, corresponding carry component actuation realize respective function.
Further, the control method further includes：The power supply is unified for master controller, electricity by power supply circuit
Machine controller, steering engine controller, remote-control receiver, motor, the first X rudders steering engine, the 2nd X rudders steering engine, straight rudder steering engine and several
Carry component is powered.
Further, the electric machine controller controls the logical of the power supply circuit of the motor by motor electromagnetic switch
Disconnected, the steering engine controller passes through the first X rudder steering engines electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and straight rudder steering engine electricity respectively
Magnetic switch controls the break-make of the power supply circuit of the first X rudders steering engine, the 2nd X rudders steering engine and the straight rudder steering engine.
The invention has the advantages that：
The present invention can generate various control power and control moment using more steering engine flow deflector control modes so that underwater nothing
People's aircraft has very high mobility and great flexibility.In addition, using to the first X rudders steering engine and the 2nd X rudder steering engines
Control realize the underwater unmanned vehicle radius of gyration be zero, quick buoyance lift the characteristics of, can be widely applied to narrow waters and shallow
The detect operation in waters compensates for the insufficient disadvantage of existing Large Underwater aircraft mobility.
Description of the drawings
Fig. 1 is a kind of control connection diagram of the master control system of single rotor duct underwater unmanned vehicle of the present invention.
Fig. 2 is that a kind of confession of the power supply of the master control system of single rotor duct underwater unmanned vehicle of the present invention is electrically connected
Connect schematic diagram.
Fig. 3 is a kind of front view of single rotor duct underwater unmanned vehicle of the present invention.
Fig. 4 is a kind of stereochemical structure signal from top of single rotor duct underwater unmanned vehicle of the present invention
Figure.
Fig. 5 is a kind of stereochemical structure signal from lower part of single rotor duct underwater unmanned vehicle of the present invention
Figure.
Fig. 6 is that a kind of single rotor duct underwater unmanned vehicle of the present invention removes the dimensional structure diagram after duct.
Fig. 7 is a kind of power source propeller of single rotor duct underwater unmanned vehicle of the present invention, circular ring shape from steady rudder
It is flow-guide fan and the structure setting schematic diagram of engine shaft.
Fig. 8 is that a kind of circular ring shape of single rotor duct underwater unmanned vehicle of the present invention from steady rudder system flow-guide fan and starts
The structure setting schematic diagram of machine drive shaft.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
With reference to figure 1, a kind of master control system 4 of single rotor duct underwater unmanned vehicle disclosed in the present embodiment includes：It is main
Controller 41, electric machine controller 42, steering engine controller 43 and remote-control receiver 44, the pairing of remote-control receiver 44 are provided with remote controler
45 and receive the remote control command signal from remote controler 45, remote-control receiver 44 main controller controls command signal output
End is connected to the control instruction signal receiving end of master controller 41, the motor control instruction signal output end connection of master controller 41
To the motor control instruction signal input part of electric machine controller 42, the servos control command signal output end of master controller 41 connects
To the servos control command signal input terminal of steering engine controller 43, the motor control instruction signal output end of electric machine controller 42 connects
It is connected to the motor control instruction signal input part of engine 22, steering engine controller 43 passes through the first X rudder servos control command signals
Output end, the 2nd X rudders servos control command signal output end and straight rudder servos control command signal output end are respectively connected to
First X rudder servos control command signals input terminal of one X rudders steering engine 3213, the 2nd X rudder servos controls of the 2nd X rudders steering engine 3223
The straight rudder servos control command signal input terminal of command signal input terminal and straight rudder steering engine 334, engine 22 pass through drive shaft 23
Driving installation to the power source propeller 21 in duct 1 rotates, and the first X rudders steering engine 3213 and the 2nd X rudders steering engine 3223 lead to respectively
It crosses the first X rudders pull rod 3212 and the 2nd X rudders pull rod 3222 pulls installation leading from steady rudder system to 1 internally-powered source propeller 21 of duct
The first X rudders flow deflector 321 and 322 wallowing motion of the 2nd X rudders flow deflector, straight rudder steering engine 334 below stream fan 31 are drawn by straight rudder
Bar 333 pulls installation to straight 331 wallowing motion of rudder flow deflector at the lower part outlet of duct 1.
With reference to figure 2, a kind of above-mentioned master control system 4 of single rotor duct underwater unmanned vehicle further includes power supply 46,
Power supply 46 is respectively connected to master controller 41, electric machine controller 42, steering engine controller 43, remote control reception by power supply circuit
Machine 44, motor 22, the first X rudders steering engine 3213, the 2nd X rudders steering engine 3223, straight rudder steering engine 334 and several carry components 5, it is electronic
On power supply circuit between machine 22, the first X rudders steering engine 3213, the 2nd X rudders steering engine 3223, straight rudder steering engine 334 and power supply 46
It is respectively arranged with motor electromagnetic switch 461, the first X rudder steering engines electromagnetic switch 462, the 2nd X rudder steering engines electromagnetic switch 463 and straight rudder
Steering engine electromagnetic switch 464, motor electromagnetic switch 461 are connected to the motor control instruction signal output end of electric machine controller 42, the
One X rudder steering engines electromagnetic switch 462, the 2nd X rudder steering engines electromagnetic switch 463 and straight rudder steering engine electromagnetic switch 464 are respectively connected to rudder
The first X rudder servos control command signals output end, the 2nd X rudders servos control command signal output end and the straight rudder of machine controller 43
Servos control command signal output end.
With reference to figure 1, in a kind of above-mentioned controlling party of the master control system 4 of single rotor duct underwater unmanned vehicle of the present embodiment
Method includes：Remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control instruction letter from remote controler 45
Number；Remote-control receiver 44 judges the type of the remote control command signal received；Based on the type of remote control command signal
When controller control instruction signal, the command signal of master controller 41 is sent to by main controller controls command signal output end
Receiving terminal；Master controller 41 judges the type of the main controller controls command signal received；Main controller controls command signal
Type be motor control instruction signal when, the motor of electric machine controller 42 is sent to by motor control instruction signal output end
Control instruction signal input part；Electric machine controller 42 is sent out motor control instruction signal by motor control instruction signal output end
It send to the motor control instruction signal input part of engine 22；Engine 22 passes through in the driving installation to duct 1 of drive shaft 23
The rotation of power source propeller 21 realizes that underwater unmanned vehicle floats or suspends；The type of main controller controls command signal is rudder
When machine control instruction signal, the servos control that steering engine controller 43 is sent to by servos control command signal output end instructs letter
Number input terminal；Steering engine controller 43 judges the type of the servos control command signal received；The class of servos control command signal
Type be X rudder servos control command signals when, distinguish X rudder servos control command signals be the first X rudder servos control command signals or
2nd X rudder servos control command signals；First X rudder servos control command signals and the 2nd X rudder servos control command signals is same
When be sent to respectively by the first X rudders servos control command signal output end and the 2nd X rudder servos control command signal output ends
2nd X rudder steering engines of the first X rudders servos control command signal input terminal and the 2nd X rudders steering engine 3223 of the first X rudders steering engine 3213
Control instruction signal input part；First X rudders steering engine 3213 and the 2nd X rudders steering engine 3223 pass through 3212 He of the first X rudders pull rod respectively
2nd X rudders pull rod 3222 pulls installation to 1 internally-powered source propeller 21 of duct from the below steady rudder system flow-guide fan 31 simultaneously
One X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 generate underwater unmanned vehicle and realize rotation to different directions wallowing motion
Turning moment needed for action；When the type of servos control command signal is straight rudder servos control command signal, pass through straight rudder rudder
Machine control instruction signal output end is sent to the straight rudder servos control command signal input terminal of straight rudder steering engine 334；And straight rudder steering engine
334 pull installation to straight 331 wallowing motion of rudder flow deflector at the lower part outlet of duct 1 to realize navigation by rudder pulling rod 333
The forward or backward of device acts.In addition, when the type of remote control command signal is carry component controls command signal, remote control connects
Receipts machine 44 distinguishes carry component controls instruction signal type, is sent to respectively by corresponding carry component controls command signal output end
Respective function is realized in the carry component controls command signal input terminal of self-corresponding carry component 5, the corresponding action of carry component 5.
With reference to figure 2, a kind of control of the master control system 4 of single rotor duct underwater unmanned vehicle disclosed in the present embodiment
Method further includes：Power supply 46 by power supply circuit be unified for master controller 41, electric machine controller 42, steering engine controller 43,
Remote-control receiver 44, motor 22, the first X rudders steering engine 3213, the 2nd X rudders steering engine 3223, straight rudder steering engine 334 and several carry portions
Part 5 is powered.Further, electric machine controller 42 controls the break-make of the power supply circuit of motor 22 by motor electromagnetic switch 461,
Steering engine controller 43 passes through the first X rudder steering engines electromagnetic switch 462, the 2nd X rudder steering engines electromagnetic switch 463 and straight rudder steering engine electricity respectively
Magnetic switch 464 controls the break-make of the power supply circuit of the first X rudders steering engine 3213, the 2nd X rudders steering engine 3223 and straight rudder steering engine 334.
With reference to figure 3 to 8, for the deficiency of traditional submarine navigation device, in conjunction with the technical advantage of culvert type flying vehicles control, according to
There is larger similitude according to propeller arrangement built in the structure and submarine navigation device of culvert type unmanned plane, disclosed in the present embodiment
A kind of above-mentioned single rotor duct underwater unmanned vehicle include：Cylindrical duct 1, main thruster 2,3 and of form regulation system
Master control system 4.
With reference to figure 6 to 8, main thruster 2 is vertically installed in cylindrical shape duct 1, and main thruster 2 includes power source propeller
21 engines 22 rotated with driving power source propeller 21, power source propeller 21 and engine 22 are vertically built in a circle
In cylindricality duct 1, engine 22 is located at below power source propeller 21, and power source propeller 21 is installed to the drive of engine 22
On moving axis 23.Which employs culvert type design, propeller efficiency higher, high safety reduces noise caused by blade, and ties
Structure is more compact；Make propeller noise vertically propagating, the significant decrease of horizontal direction noise is aircraft with higher hidden
Covering property.
Above-mentioned underwater unmanned vehicle combination single rotor and the concept of duct create the structure of underwater unmanned vehicle
New design, it is whole to use rectilinear layout type, make underwater unmanned vehicle while there is high efficiency, easy manipulation, low noise, more
The multinomial superior function such as purposes.Propellerslip effectively can be converted into thrust by duct, this makes the duct of equivalent diameter push away
It is more than same parameter screw propeller into device efficiency.And high-velocity fluid caused by main thruster is limited to flow field by duct
In, master control system directly acts on high-velocity fluid, can remain higher control efficiency.Duct is made an uproar in reduction propeller
While sound, also high-speed rotary part is isolated with external environment, improves the durability of safety and equipment itself；Annular is contained
Road also provides multiple attachment points for carry component, makes equipment with expansibility functionally.
With reference to figure 6 to 8, form regulation system 3 includes：Circular ring shape is from steady rudder system flow-guide fan 31, X rudders 32 and straight rudder 33.
Above-mentioned underwater unmanned vehicle gesture stability is realized by rudder system and propulsion motor, wherein horizontal movement is by a pair of of X
Rudder flow deflector and a straight rudder flow deflector realize that X rudders flow deflector realizes Heading control by manipulating underwater unmanned vehicle rotation,
Straight rudder flow deflector controls aircraft pitch attitude, by providing additional torque to realize horizontal movement；Pass through adjusting
Main thruster rotating speed realizes that underwater unmanned vehicle drifts along adjusting.Underwater unmanned vehicle may be implemented in the use of X rudder flow deflectors
Axial rotation adjusts course in turn so that its turning radius is almost nil, and narrow water-area navigation task may be implemented；It is underwater simultaneously
Unmanned vehicles are also gathered around there are one fixing from steady rudder system, steadily for realizing underwater unmanned vehicle itself, offset power source spiral shell
Aircraft rolling moment caused by revolving paddle rotation.Since boat rudder system is predominantly located in inside duct, rudder piece can be effectively prevent
It collides in shallow water area, more steering engine flow deflector control modes can generate various control power and control moment so that underwater nothing
People's aircraft has very high mobility and great flexibility.
With reference to figure 6 to 8, it is set in the drive shaft 23 of engine 22 from the center of steady rudder system flow-guide fan 31 and is located at power
Below source propeller 21, pass through 312 shape of circular ring shape fixed frame by several fixed guide vanes 311 from steady rudder system flow-guide fan 31
At.With reference to figure 4, power source propeller 21 and circular ring shape are equipped with cylindrical outer cover 24 from 31 outer cover of steady rudder system flow-guide fan, outside
It covers 24 top seals and outwardly protrudes to form male part 241 in center, 24 lower openings of outer cover, outer cover 24 is set by side
The connecting plate 242 set is installed to the inside of duct 1.Several fixed guide vanes 311 form annulus by circular ring shape fixed frame 312
Shape from steady rudder system flow-guide fan 31, several fixed guide vanes 311 be evenly distributed on the interior annular of fixed frame 312 and outer toroid it
Between, the interior annular of fixed frame 312 is set in the drive shaft 23 of engine 22, and the outer toroid of fixed frame 312 is installed to outer cover 24
It is interior.Fixed guide vane 311 extends to form strip blade from the interior annular of fixed frame 312 to outer toroid, and strip blade is perpendicular
It is straight to be arranged and form arcwall face, the fixed guide vane 311 between the interior annular and outer toroid of fixed frame 312 in the vertical direction
Arcwall face bending direction it is consistent, in duct fluid fixed guide vane 311 arcwall face formed turning moment side
It is opposite to the direction of turning moment generated with the rotation of power source propeller 21.
It refers to Figures 5 and 6, X rudders 32 include the first X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 and are horizontally placed on from steady rudder
It is flow-guide fan 31 and engine 22 in the following, the first X rudders flow deflector 321 and 322 outer end of the 2nd X rudders flow deflector are distinguished across duct 1
It is connected to the first X rudders pull rod 3212 and 3222 lower end of the 2nd X rudders pull rod, the first X rudders flow deflector 321 and the 2nd X rudders flow deflector 322
Between be docking together by swivel bearing 323.Specifically, the first X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 lead to respectively
It crosses the first X rudder yokes 3211 and the 2nd X rudder yokes 3221 is horizontally placed in duct 1 and respectively by the first X rudder yokes 3211 and
Two X rudder yokes 3221 drive free inclination rotation, the first X rudder yokes 3211 and the 2nd X rudder yokes 3221 to pass through the outer end of duct 1
The first X rudders pull rod 3212 and the 2nd X rudder pull rods being vertically installed on the outside of duct are connected to by transmission connection piece 34 respectively
The upper end of 3222 lower end, the first X rudders pull rod 3212 and the 2nd X rudders pull rod 3222 is respectively connected to 3213 He of the first X rudders steering engine
On the telescopic shaft of 2nd X rudders steering engine 3223, the first X rudders steering engine 3213 and the 2nd X rudders steering engine 3223 may be contained on 1 outside of duct
Portion, the first X rudder yokes 3211 and 3221 inner end of the 2nd X rudder yokes are docking together by swivel bearing 323, the first X rudder steering engines
3213 and the 2nd X rudders steering engine 3223 respectively drive the first X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 to different directions simultaneously
Tilt identical angle, the inclination maximum of the first X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 is 15 °.
It refers to Figures 5 and 6, straight rudder 33 includes a piece of straight rudder flow deflector 331 and is horizontally placed at the lower part outlet of duct 1, straight rudder
33 both ends pass through duct 1, straight rudder 33 to be connected to the lower end of rudder pulling rod 333, straight rudder flow deflector 331 across 1 side outer end of duct
It is horizontally placed in duct 1 by straight rudder yoke 332 and free inclination rotation, specifically, straight rudder yoke is driven by straight rudder yoke 332
332 pass through the outer end of 1 side of duct to be connected to the rudder pulling rod 333 for being vertically installed in 1 outside of duct by transmission connection piece 34
Lower end, the upper end of rudder pulling rod 333 is connected on the telescopic shaft of straight rudder steering engine 334, and straight rudder steering engine 334 is set to outside duct 1
The inclination maximum of upper lateral part, straight rudder flow deflector 331 is 23 °.
Above-mentioned underwater unmanned vehicle disclosed in the present embodiment using shrouded propeller as main dynamical system, it
Can be vertically moved up or down as more rotor underwater unmanned vehicles, but can as torpedo horizontal travel, and with good
It hovers performance, thus the advantages of have both a variety of underwater unmanned vehicles.Meanwhile during navigation, culvert type unmanned vehicles
It can be by adjusting course around vertical axis rotation, to apply under complex flowfield environment.
With reference to figure 1, underwater unmanned vehicle further includes several carry components 5, and several carry components 5 are respectively connected to be remotely controlled
Receiver 44, carry component 5 are installed to the side wall of duct 1, several carry component controls are provided on remote-control receiver 44 and are referred to
Signal output end, several carry component controls command signal output ends is enabled to be respectively connected to the extension of corresponding carry component 5
Component controls command signal input terminal is carried, with reference to figure 3 to 6, if 1 upper outside of duct is along the circumferential direction evenly arranged with dry hanging article
Sleeve, pendant sleeve include one big hoop 521 by several even hoop assemblies 52 installations to 1 outside of duct, even hoop assemblies 52
With several small hoops 522, big hoop 521 is located at centre, and several small hoops 522 are uniformly distributed around big hoop 521, and big 521 sets of hoop is filled to culvert
1 outside of road, small hoop 522, which is located at 1 outside of duct and covers, to be filled on the outside of pendant sleeve, and pendant sleeve includes two steering engine sleeves 51,
Two steering engine sleeves 51 are symmetrically distributed in the both sides of duct 1, install 3213 He of the first X rudders steering engine in two steering engine sleeves 51 respectively
2nd X rudders steering engine 3223, the straight installation of rudder steering engine 334 to the steering engine for being equipped with the first X rudders steering engine 3213 or the 2nd X rudders steering engine 3223
In sleeve 51, pendant sleeve further includes several carry component sleeves, is not shown in figure, corresponding installation in several carry component sleeves
Several carry components.In addition, above-mentioned master control system disclosed in the present embodiment can also be set in pendant sleeve, can be arranged
In in steering engine sleeve 51 or carry component sleeve.
Above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment uses modularized design, carry
The function of component can be replaced arbitrarily, the quick adjustment capability of underwater unmanned vehicle complex job scene can be substantially improved, such as：
Underwater photograph technical device and/or undersea detection device and/or underwater positioning device and/or mechanical arm etc., can quick-replaceable, make production
Product have the multiduty advantage of low cost.By carrying out different designs to uniformity module, each module is made to meet different application need
It asks, disparate modules combination, which can configure, generates diversified operation underwater unmanned vehicle to meet different application demand.By water
Lower unmanned vehicles dynamical system, form regulation system, operation element (carry component) each module separate design, assembling assembly,
Be conducive to each module component standardization, Universal joint, assembly method summary reduces design difficulty, it is general to increase each component
Property with interchangeable rate.Underwater unmanned vehicle modular structure design can make it have extremely strong environmental suitability and vdiverse in function
Change, effectively improve the practical value of aircraft, reduces cost of manufacture, make it have larger market value.
In addition, above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment is a kind of microminiature, behaviour
Vertical convenience, high maneuverability, submarine navigation device expansible, use cost is cheap.Militarily utilize its noise low, concealment is strong
The characteristics of, it can be used for underwater reconnaissance operation and hidden monitoring, using the longitudinal design of its propeller and modularization carry, it can be achieved that fast
Speed is multi-functional to be laid；On civilian, using the works radius of gyration be zero, quick buoyance lift the characteristics of, can be widely applied to narrow
The detect operation in waters and shallow water area compensates for the insufficient disadvantage of existing Large Underwater aircraft mobility.Such as：Shallow water field
The safety inspection etc. of underbody after River Water Pollution monitoring, large-scale water transmission pipeline safety inspection, ship enter a port.
Therefore, single rotor culvert type unmanned vehicles have applications well foreground and preferable military benefit and social benefit.
With reference to figure 1 and Fig. 3 to Fig. 8, above-mentioned a kind of single rotor duct underwater unmanned vehicle disclosed in the present embodiment
Application method includes：Remote controler 45 sends remote control instruction；Remote-control receiver 44 receives the remote control from remote controler 45
Command signal；Remote-control receiver 44 distinguishes the control instruction signal for controlling underwater unmanned vehicle action via master controller 41
It is forwarded to electric machine controller 42 and steering engine controller 43；Electric machine controller 42 controls engine 22 and power source propeller 21 is driven to exist
The rotation of 1 internal upper part of duct realizes that underwater unmanned vehicle suspends or floats；It is formed by the rotation of power source propeller 21 in duct 1
Flow flows through from top to bottom to be generated from steady rudder system flow-guide fan 31 from steady rudder system turning moment；From the direction of steady rudder system turning moment
It is opposite with symmetric screw propeller turning moment with the rotation of power source propeller 21 direction of propeller turning moment generated；Steering engine control
Device 43 processed controls the first X rudders steering engine 3213 simultaneously and the 2nd X rudders steering engine 3223 pulls the first X rudders flow deflector 321 and the 2nd X respectively
Rudder flow deflector 322 is to the identical inclination angle of different directions wallowing motion；From from the flow of steady rudder system flow-guide fan 31 from upper in duct 1
The first X rudders flow deflector 321 is flowed through under and the 2nd X rudders flow deflector 322 generates rotation turning moment, realizes underwater unmanned vehicle
Rotation action；Steering engine controller 43 controls straight rudder steering engine 334 and pulls straight 331 wallowing motion of rudder flow deflector；From the in duct
The flow of one X rudders flow deflector 321 and the 2nd X rudders flow deflector 322 flows through straight rudder flow deflector 331 from top to bottom makes underwater unmanned navigation
Device entirety posture run-off the straight；And natural buoyancy and its own gravity and power source propeller 21 the rotation production of underwater unmanned vehicle
Raw buoyancy forms resultant force in the direction of advance or direction of retreat of unmanned vehicles under water, realizes the forward or backward of aircraft
Action.In addition, the control instruction signal of carry component is forwarded directly to corresponding carry component 5 by remote-control receiver 44, accordingly
5 execution of carry component action realize respective function.
In conjunction with the propulsion of single rotor aircraft and a kind of innovative underwater unmanned vehicle of conceptual design of ducted fan, will move
For the reasonable Arrangements such as power source propeller, engine and master control system in a duct, global design uses vertical arrangement.Ensureing
Navigation stability and it is handling in the case of realize concentrate, the design of compact and more preferably hydrodynamic performance.With Dan Xuan
Wing main thruster is underwater unmanned vehicle core cell, forms duct power and form regulation system, make it have high efficiency,
The multiple advantages such as easy manipulation, low noise, multipurpose.To keep fuselage axial stability, inside duct, design arrangement carries one
The fixed guide vane for determining angle is formed from steady rudder system flow-guide fan, and the turning moment generated thereon is enabled to be given birth to power source propeller
Turning moment balances, and prevents from occurring because of the underwater unmanned vehicle overturning that main thruster rotates and generates；It is led from steady rudder system
The rear installation of stream fan can be by X rudders servos control, the X rudder flow deflectors that can be turned an angle, to generate underwater unmanned vehicle
Required turning moment realizes underwater unmanned vehicle rotation action so that underwater unmanned vehicle has almost nil turn
To radius, the flexibility of aircraft is greatly improved；In duct exit, installation can be by the straight rudder water conservancy diversion of straight rudder servos control
Piece realizes that the forward-reverse action of underwater unmanned vehicle, the synergy of multigroup control blade can generate many attitude control
Power and control moment so that underwater unmanned vehicle has splendid flexibility.
In addition, the energy of above-mentioned underwater unmanned vehicle disclosed in the present embodiment is supplied using unified power supply, reduce
Line arrangement reduces system complexity, while can carry different carry components to complete the mission requirements under different condition.Outside
Portion is equipped with waterproof carry component, for disposing master control system and equipment.Under water can by remote controler realize float, under
Latent, left and right turn and the basic function fallen back of advancing, the added underwater camera function module of cooperation can complete undersea detection
And camera function, carry module is replaced, different underwater operation tasks can be completed.Underwater unmanned navigation disclosed in the present embodiment
Device overall length 400mm, the widest part 272mm, speed of a ship or plane 0-1m/s are continuously adjustable；The radius of gyration is almost 0m, maximum boat depth 10m, cruise
Time 50min (2200mAh power supplys), diving speed 0-0.6m/s are continuously adjustable；Data transmission support has cable transmission (to provide network
Interface) and short range wireless transmission (2.4G, 5.8G double frequency).
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (10)
1. a kind of master control system of single rotor duct underwater unmanned vehicle, which is characterized in that the master control system includes：Master control
The main controller controls command signal of device, electric machine controller, steering engine controller and remote-control receiver processed, the remote-control receiver is defeated
Outlet is connected to the control instruction signal receiving end of the master controller, the motor control instruction signal output of the master controller
End is connected to the motor control instruction signal input part of the electric machine controller, the servos control command signal of the master controller
Output end is connected to the servos control command signal input terminal of the steering engine controller, and the motor control of the electric machine controller refers to
Signal output end is enabled to be connected to the motor control instruction signal input part of engine, the steering engine controller passes through the first X rudder rudders
Machine control instruction signal output end, the 2nd X rudders servos control command signal output end and the output of straight rudder servos control command signal
End is respectively connected to the 2nd X rudder rudders of the first X rudder servos control command signals input terminal of the first X rudder steering engines, the 2nd X rudder steering engines
The straight rudder servos control command signal input terminal of machine control instruction signal input part and straight rudder steering engine, the engine pass through driving
To the power source propeller rotation in duct, the first X rudders steering engine and the 2nd X rudder steering engines pass through respectively for axis driving installation
First X rudders pull rod and the 2nd X rudder pull rods pull installation to duct internally-powered source propeller from the below steady rudder system flow-guide fan
One X rudders flow deflector and the 2nd X rudder flow deflector wallowing motions, the straight rudder steering engine are pulled by rudder pulling rod under installation to duct
The straight rudder flow deflector wallowing motion in portion exit.
2. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 1, which is characterized in that institute
Remote-control receiver pairing is stated to be provided with remote controler and receive the remote control command signal from remote controler.
3. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 2, which is characterized in that institute
It states and is provided with several carry component controls command signal output ends on remote-control receiver, several carry component controls command signals are defeated
Outlet is respectively connected to the carry component controls command signal input terminal of corresponding carry component.
4. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 3, which is characterized in that institute
Carry component is stated to install on the side wall of duct and include underwater photograph technical device and/or undersea detection device and/or Underwater Navigation
Device and/or mechanical arm.
5. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 4, which is characterized in that institute
It further includes power supply to state master control system, and the power supply is respectively connected to master controller by power supply circuit, motor controls
Device, steering engine controller, remote-control receiver, motor, the first X rudders steering engine, the 2nd X rudders steering engine, straight rudder steering engine and several carry portions
Part.
6. a kind of master control system of single rotor duct underwater unmanned vehicle according to claim 5, which is characterized in that institute
State the power supply between motor, the first X rudders steering engine, the 2nd X rudders steering engine, the straight rudder steering engine and the power supply
Motor electromagnetic switch, the first X rudder steering engines electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and straight rudder rudder are respectively arranged on circuit
Electromechanical magnetic switch, the motor electromagnetic switch are connected to the motor control instruction signal output end of electric machine controller, the first X
Rudder steering engine electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and the straight rudder steering engine electromagnetic switch are respectively connected to steering engine control
The first X rudder servos control command signals output end, the 2nd X rudders servos control command signal output end and the straight rudder steering engine control of device processed
Command signal output end processed.
7. a kind of master control system of single rotor duct underwater unmanned vehicle according to any one of claim 1 to 6
Control method, which is characterized in that the control method includes：
Remote controler sends remote control instruction；
Remote-control receiver receives the remote control command signal from remote controler；
Remote-control receiver judges the type of the remote control command signal received；
It is defeated by main controller controls command signal when the type of remote control command signal is master controller control instruction signal
Outlet is sent to the command signal receiving terminal of master controller；
Master controller judges the type of the main controller controls command signal received；
When the type of main controller controls command signal is motor control instruction signal, pass through motor control instruction signal output end
It is sent to the motor control instruction signal input part of electric machine controller；
Motor control instruction signal is sent to the motor of engine by motor control instruction signal output end by electric machine controller
Control instruction signal input part；
Engine realizes that underwater unmanned vehicle floats by drive shaft driving installation to the power source propeller rotation in duct
Or it suspends；
When the type of main controller controls command signal is servos control command signal, pass through servos control command signal output end
It is sent to the servos control command signal input terminal of steering engine controller；
Steering engine controller judges the type of the servos control command signal received；
When the type of servos control command signal is X rudder servos control command signals, it is the to distinguish X rudder servos control command signals
One X rudder servos control command signals or the 2nd X rudder servos control command signals；
First X rudder servos control command signals and the 2nd X rudder servos control command signals are passed through into the first X rudder steering engines respectively simultaneously
Control instruction signal output end and the 2nd X rudder servos control command signal output ends are sent to the first X rudder rudders of the first X rudder steering engines
2nd X rudder servos control command signal input terminals of machine control instruction signal input part and the 2nd X rudder steering engines；
First X rudders steering engine and the 2nd X rudders steering engine pull installation to culvert simultaneously by the first X rudders pull rod and the 2nd X rudders pull rod respectively
Road internally-powered source propeller from below steady rudder system flow-guide fan the first X rudders flow deflector and the 2nd X rudders flow deflector to different directions
Wallowing motion generates underwater unmanned vehicle and realizes the required turning moment of rotation action；
It is defeated by straight rudder servos control command signal when the type of servos control command signal is straight rudder servos control command signal
Outlet is sent to the straight rudder servos control command signal input terminal of straight rudder steering engine；And
Straight rudder steering engine pulls installation to the straight rudder flow deflector wallowing motion at the lower part outlet of duct to realize boat by rudder pulling rod
The forward or backward of row device acts.
8. a kind of control method of the master control system of single rotor duct underwater unmanned vehicle according to claim 7,
It is characterized in that, when the type of the remote control command signal is carry component controls command signal, the remote-control receiver area
Divide carry component controls instruction signal type, is sent to by corresponding carry component controls command signal output end corresponding
The carry component controls command signal input terminal of carry component, corresponding carry component actuation realize respective function.
9. a kind of control method of the master control system of single rotor duct underwater unmanned vehicle according to claim 8,
It is characterized in that, the control method further includes：The power supply is unified for master controller by power supply circuit, motor controls
Device, steering engine controller, remote-control receiver, motor, the first X rudders steering engine, the 2nd X rudders steering engine, straight rudder steering engine and several carry portions
Part is powered.
10. a kind of control method of the master control system of single rotor duct underwater unmanned vehicle according to claim 9,
It is characterized in that, the electric machine controller controls the break-make of the power supply circuit of the motor, the rudder by motor electromagnetic switch
Machine controller is controlled by the first X rudder steering engines electromagnetic switch, the 2nd X rudder steering engine electromagnetic switch and straight rudder steering engine electromagnetic switch respectively
The break-make of the power supply circuit of the first X rudders steering engine, the 2nd X rudders steering engine and the straight rudder steering engine.
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