CN109795610A - A kind of Water wing type water life-saving equipment - Google Patents
A kind of Water wing type water life-saving equipment Download PDFInfo
- Publication number
- CN109795610A CN109795610A CN201910017566.8A CN201910017566A CN109795610A CN 109795610 A CN109795610 A CN 109795610A CN 201910017566 A CN201910017566 A CN 201910017566A CN 109795610 A CN109795610 A CN 109795610A
- Authority
- CN
- China
- Prior art keywords
- hydrofoil
- water
- cabin
- saving equipment
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The present invention proposes a kind of Water wing type water life-saving equipment, hydrofoil structure including cabin lower part is arranged in, the hydrofoil structure include can independent control rotational angle left and right hydrofoil, it further include the distance detection unit that cabin rear portion is set, for detecting cabin at a distance from the water surface, Water wing type water life-saving equipment cabin when advancing leaves the water surface, reduce frictional resistance, simultaneously, it does not have traditional direction rudder structure, rotational angle by changing left and right hydrofoil realizes the height to cabin from the water surface, direction of advance, the control of turning radius, reduce the consumption of energy, to extend the cruising ability of rescue aid on the water.
Description
Technical field
The invention belongs to water life-saving equipment control technology fields, and in particular to a kind of Water wing type water life-saving equipment.
Background technique
Traditional water life-saving ship is as shown in Figure 1 comprising the cabin 1-1 to float on the surface and underwater propeller (example
Such as propeller), and for unmanned rescue aid waterborne, cruising ability is very important technical parameter, and energy consumption is to determine
Determine the key factor of cruising ability.Traditional Ship Structure will form larger resistance in high speed operation, to cause biggish
Energy consumption.
Meanwhile traditional water life-saving ship is the tune that course is realized in such a way that turning rudder is added in the spout of propeller
It is whole, the water velocity of rudder two sides is influenced by adjusting the angle of rudder, to reach curving effect, but is sprayed in this process from spout
Water flow and rudder out generates collision and friction, this can waste part energy.
Summary of the invention
The present invention proposes a kind of Water wing type water life-saving equipment, and the Water wing type rescue aid includes cabin and hydrofoil knot
Structure.For the hydrofoil structure setting in the bottom surface of cabin, the hydrofoil structure includes the vertical connection connecting with cabin bottom surface
Bar, the vertical connecting middle part is also horizontally disposed propeller, and the lower end of the vertical connecting is also horizontally disposed level
Connecting rod, the front end of the horizontal brace rod are provided with the steering engine mechanism of control hydrofoil angle, the left and right two of the steering engine mechanism
Side is separately connected hydrofoil, and the hydrofoil is located under the water surface, is provided with empennage at left and right sides of the rear end of the horizontal brace rod.
The steering engine mechanism includes two steering engines, and the hydrofoil is connect by rotation axis with steering engine, and the steering engine can drive
The hydrofoil is rotated around the rotation axis, and described two steering engines can adjust separately the rotational angle of left and right hydrofoil.
The steering engine has shell, and interior of shell includes rotation axis, driving gear, and one end of connecting shaft connects driving tooth
The other end of wheel, the connecting shaft connects hydrofoil, to realize that the steering engine drives hydrofoil to turn by driving gear and connecting shaft
It is dynamic.
The steering engine mechanism further includes hydrofoil angle detection unit, and the hydrofoil angle detection unit is left for detection respectively
The rotational angle of right hydrofoil.
Further, the interior of shell of the steering engine further includes driven gear, and the driving gear is engaged with driven gear,
The proportionate relationship of described two gears is 1: 1, is sealed between transmission shaft and steering engine shell.The hydrofoil angle detection unit passes through
The amount of spin of detection driven gear measures the hydrofoil rotational angle, the i.e. attitude angle of hydrofoil.
The Water wing type water life-saving equipment further includes control unit, and the control unit is used for propeller motor speed
Degree, hydrofoil structure steering engine mechanism rotational angle and water life-saving equipment posture controlled, to adjust described waterborne rescue
The cabin of equipment is helped at a distance from the water surface and the direction of advance and speed of water life-saving equipment.
The cabin of the water life-saving equipment is detached from the water surface, and hydrofoil is located at the water surface hereinafter, the rear portion of cabin is equipped with distance
Detection unit, the distance detection unit is for detecting cabin at a distance from the water surface.
The distance detection unit includes rigid connecting rod, the rigid connecting rod can around with cabin tie point,
It is rotated in vertical line and the vertical plane where rigid connecting rod, the tie point is provided with angular transducer, the angle
For measuring the rigid connecting rod around the angle rotated with cabin tie point, the end of the rigid connecting rod is set sensor
It is equipped with floating ball, the floating ball can keep afloat, and with the difference of cabin and water surface elevation H, rigid connecting rod can be because of floating ball
Buoyancy and around tie point rotate and naturally be in different angle, θs, this angle, θ for vertical line and rigid connecting rod angle.It is described
The length L of rigid connecting rod is related with the object height value h of the water surface to the cabin of water life-saving equipment.Preferably, the rigidity
The length of connecting rod is greater than object height value h, and meet simultaneously: when rigid connecting rod is vertical, the least significant end of the floating ball is higher than
The upper surface of horizontal brace rod.
Angular transducer measures angle value θ and is sent to control unit, control unit obtain after angle, θ can according to
Lower formula obtains height H of the cabin of water life-saving equipment apart from the water surface:
H=L*cos θ (1)
Further, described control unit is adjusted using PID to regulate and control the height H between cabin and the water surface, following formula
(2), difference can be made with the object height h of setting after obtaining current level value H, and then obtain the feedback that Δ h is adjusted as PID
Amount:
E (t)=Δ h=h-H (2)
In above-mentioned formula (2), e (t) is the error amount measured every time, and t is each acquisition data in discrete variable
Unit interval.Above-mentioned formula (2) can substitute into following PID and adjust in formula (3), the regulated value u of the height value H obtained
(t).In following formula (3), Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient.
After the height value u (t) adjusted required for obtaining, height value is converted to through hydrofoil angle-regulation structure and is adjusted
The angle value of hydrofoil in water makes cabin reach the height value h of target to change lift.
Control unit by PWM control come the motor speed of adjust drivers, to control the advance of water life-saving equipment
Speed, meanwhile, control unit adjusts the angle of rotation β of hydrofoil by control steering engine mechanism, realizes the distance H to cabin apart from the water surface
And the control of the direction of advance of water life-saving equipment.
Further, control unit can also by control hydrofoil angular adjustment water life-saving equipment tilt angle,
And then control the size of the turning radius of water life-saving equipment.It is provided with posture detecting unit in the water life-saving equipment, institute
It states posture detecting unit to be arranged in cabin, is sent to control for detecting the attitude angle of cabin, and by the attitude angle information
Unit.
The present invention proposes a kind of Water wing type water life-saving equipment, the hydrofoil structure including cabin lower part is arranged in, the water
Wing structure include can independent control rotational angle left and right hydrofoil, further include the distance detection unit that cabin rear portion is set, use
In detection cabin at a distance from the water surface, Water wing type water life-saving equipment cabin when advancing leaves the water surface, reduces friction
Resistance, meanwhile, do not have traditional direction rudder structure, the rotational angle by changing left and right hydrofoil is realized to cabin from water
The control of the height, direction of advance, turning radius in face, reduce the consumption of energy, to extend rescue aid on the water
Cruising ability.
Detailed description of the invention
Fig. 1 is unmanned salvor schematic diagram waterborne in the prior art；
Fig. 2A is the Water wing type water life-saving equipment schematic diagram of the application；
Fig. 2 B is the hydrofoil partial schematic diagram of the Water wing type water life-saving equipment of the application；
Fig. 2 C is the steering engine shell figure of the Water wing type water life-saving equipment of the application；
Fig. 2 D is the steering engine perspective view of the Water wing type water life-saving equipment of the application；
Fig. 2 E is the steering engine side view of the Water wing type water life-saving equipment of the application；
Fig. 3 is the operation schematic diagram of the hydrofoil of the application in water；
Fig. 4 A-4C is that the hydrofoil of the application is in the schematic diagram of different angle；
Fig. 5 is that the Water wing type water life-saving equipment of the application adjusts the schematic diagram from water surface elevation；
Fig. 6 is that the Water wing type water life-saving equipment of the application adjusts right hydrofoil realization left steering schematic diagram；
Fig. 7 is that the Water wing type water life-saving equipment control of the application turns to transverse sectional view to the left；
Fig. 8 is that the Water wing type water life-saving equipment of the application adjusts right hydrofoil realization right turn schematic diagram；
Fig. 9 is that the Water wing type water life-saving equipment control of the application turns to the right transverse sectional view；
Figure 10 is that the Water wing type water life-saving equipment of the application is in steering polar plot and the track signal of different inclination angle
Figure；
Figure 11 is that the Water wing type water life-saving equipment of the application adjusts the rotational angle schematic diagram of left hydrofoil；
Figure 12 is that the Water wing type water life-saving equipment of the application adjusts the rotational angle schematic diagram of left and right hydrofoil simultaneously.
Specific embodiment
The present invention is further expalined below in conjunction with specific embodiment and Figure of description.
In one embodiment, referring to Figure of description 2A, the Water wing type rescue aid of the application includes cabin 2-4 and water
Wing structure.The hydrofoil structure setting cabin 2-4 bottom surface, with further reference to Figure of description 2B, the hydrofoil structure
It is also horizontally disposed in the middle part of the vertical connecting to have propeller 2-3 including the vertical connecting 2-5 being connect with cabin bottom surface,
The lower end of the vertical connecting is also horizontally disposed horizontal brace rod 2-6, and the front end of the horizontal brace rod is provided with control
The steering engine mechanism 2-2 of hydrofoil angle is separately connected hydrofoil 2-1 at left and right sides of the steering engine mechanism, the horizontal brace rod
Empennage 2-7 is provided at left and right sides of rear end.
The steering engine mechanism 2-2 includes two steering engines, and the hydrofoil is connect by rotation axis with steering engine, and the steering engine can band
It moves the hydrofoil to rotate around the rotation axis, described two steering engines can adjust separately the rotational angle of left and right hydrofoil, referring to saying
Bright book attached drawing 2D and attached drawing 2E, is the internal structure chart of the steering engine, and inside includes driven gear 2-2-2 and driving gear 2-
One end of 2-3, rotation axis 2-2-4 connection driving gear 2-2-3, connecting shaft connect driving gear, the other end of the connecting shaft
Hydrofoil is connected, to realize that the steering engine drives hydrofoil rotation by driving gear and connecting shaft.Referring to Figure of description 2C, institute
Steering engine is stated with shell 2-2-1.The driving gear is engaged with driven gear, it is preferable that the proportionate relationship of described two gears
It is 1: 1, can realizes sealing using modes such as water proof ring and oil sealings between transmission shaft 2-2-4 and steering engine shell 2-2-1.The rudder
Machine further includes having potentiometer on the motor shaft of synchronous belt or the steering engine, can be turned by detection driven gear 2-2-2
Momentum survey goes out the hydrofoil rotational angle, the i.e. attitude angle of hydrofoil, meanwhile, it can by the measurement to hydrofoil attitude angle
The angle adjustment of hydrofoil part is completed, to adjust the cabin 2-4 of water life-saving equipment at a distance from the water surface.
It is hydrofoil of the invention operation schematic diagram in water referring to Fig. 3, the hydrofoil 3-1 is integrally submerged in water, works as water
When flowing the 3-3 hydrofoil 3-1 excessively, the stroke that water flows through the upper surface of the hydrofoil 3-1 is greater than the row that the water flows through lower surface
Journey, when propeller drives hydrofoil mechanism to advance below the water surface, the water velocity of the hydrofoil upper surface can be than lower surface
Water velocity is fast, therefore the water pressure of hydrofoil lower surface can be higher than upper surface, to generate the difference that upwards pressure.The pressure difference
Form the climbing power 3-2 that hydrofoil generates.The climbing power can make the cabin of rescue aid leave the water surface, and keep with the water surface
A certain distance.
It as shown in figs. 4 a-4 c, is hydrofoil angle-regulation structure schematic diagram of the invention, hydrofoil shown in Fig. 4 A is adjustable
Angle is rotated up, and hydrofoil shown in Fig. 4 B can also adjust the angle downwards rotation, is that hydrofoil is to maintain horizontal direction shown in Fig. 4 C.
The present invention can make the lift for changing hydrofoil generation by adjusting different hydrofoil angles, then match different weight bearings, keep or protect
Rescue aid cabin is at a distance from the water surface on water holding, to improve the forward speed of entire water life-saving equipment on the water.
In one embodiment, Water wing type water life-saving equipment of the invention further includes control unit, the control list
Rotational angle and water life-saving equipment posture of the member for the steering engine mechanism to propeller motor speed, hydrofoil structure are controlled
System.
As shown in figure 5, water life-saving equipment cabin 5-1 be detached from the water surface, hydrofoil 5-3 be located at fluctuation water surface 5-2 hereinafter,
The rear portion of cabin 5-1 is equipped with rigid connecting rod 5-6, the rigid connecting rod 5-6 can around with cabin 5-1 tie point,
It is rotated in vertical line and the vertical plane where rigid connecting rod 5-6, the tie point is provided with angular transducer 5-4, institute
Angular transducer 5-4 is stated for measuring the rigid connecting rod 5-6 around angle rotate with cabin 5-1 tie point, it is described rigid
The end of property connecting rod 5-6 is provided with floating ball 5-5, and the floating ball 5-5 can keep afloat 5-2, with cabin 5-1 and water surface 5-2
The difference of height H, rigid connecting rod 5-6 can be rotated around tie point because of the buoyancy of floating ball 5-5 and are naturally in different angles
θ, this angle, θ are the angle of vertical line and rigid connecting rod.The length of the rigid connecting rod and the cabin of water life-saving equipment
It is related to the object height value h of the water surface.Preferably, the length of the rigid connecting rod is greater than object height value h, meets simultaneously:
When rigid connecting rod is vertical, the least significant end of the floating ball is higher than the upper surface of horizontal brace rod 2-6.
In the present invention using float-ball type angle measurement structure can direct output angle angle value, have compared to other distance measuring methods
Measurement rapidly, the advantage that low energy consumption and structure is simple, and ranging generates on the water without optics or acoustic ranging device
The interference problems such as multipath reflection.In addition to this, also there is in the present invention using float-ball type angle measurement structure additional technology effect
Fruit, first floating ball itself have certain buoyancy, can offset the measurement of gravity bring and control error of rigid connecting rod, together
When, as cabin leaves the variation of the height value H of the water surface, floating ball volume submerged in water is also changing, when cabin is from the water surface
When height is lower, floating ball volume submerged in water becomes larger, and the buoyancy that floating ball receives also becomes larger, and provides entire cabin upward volume
Outer support power, when cabin is got higher from water surface elevation, floating ball when cabin leave the water surface it is excessively high when, floating ball volume submerged in water
Become smaller, the buoyancy that floating ball receives also becomes smaller, and the support force for providing entire cabin becomes smaller, and assists in the height for adjusting cabin
Stability, while the excessive pitching variation of section structure is prevented, conducive to stability of the entire cabin when advancing is kept.
In the present embodiment, cabin 5-1 and water surface 5-2 height H can be adjusted by adjusting the rotational angle β of hydrofoil.And
The height H uses floating ball and angular transducer to measure in the present embodiment, fixes since rigid connecting rod 5-6 has
Length L, and with the difference of water surface elevation, rigid connecting rod 5-6 can be because the buoyancy of floating ball 5-5 with cabin 5-1 be in different
Angle, θ, angular transducer can measure the angle value and be sent to control unit, control unit obtain after angle, θ can according to
Lower formula obtains height H of the salvor ontology apart from the water surface:
H=L*cos θ (1)
In the present embodiment, described control unit is adjusted using PID to regulate and control the height H between cabin and the water surface, can also
To use other control algolithms.In the present embodiment, the difference of object height value h and current level value H is as feed back input amount,
It by the difference fed back, is calculated using pid algorithm, obtains the height value for also needing to be adjusted at present.Then lead to
The rotational angle of control adjustment hydrofoil is crossed to change the climbing power of hydrofoil offer, to change the height between current cabin and the water surface
Degree, makes it become closer to object height value by constantly adjusting.
Following formula (2), can make difference with the object height h of setting after obtaining current level value H, and then obtain Δ h
The feedback quantity adjusted as PID:
E (t)=Δ h=h-H (2)
In above-mentioned formula (2), e (t) is the error amount measured every time, and t is each acquisition data in discrete variable
Unit interval.Above-mentioned formula (2) can substitute into following PID and adjust in formula (3), the regulated value u of the height value H obtained
(t).In following formula (3), Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient.It is by setting these three
Number can make hydrofoil angle of rotation more steady during adjustment and rapidly, bring to reduce because of height adjustment
It is overweight and weightless.
After the height value u (t) adjusted required for obtaining, height value is converted to through hydrofoil angle-regulation structure and is adjusted
The angle value of hydrofoil in water makes cabin reach the height value h of target to change lift.
In the present embodiment, control unit by PWM control come the motor speed of adjust drivers 2-3, to control whole
The forward speed of a rescue aid.Meanwhile control unit adjusts the angle of rotation β of hydrofoil, realization pair by control steering engine mechanism 2-2
The adjusting of distance H of the cabin 5-1 apart from the water surface.As shown in figure 5, left figure is hydrofoil force diagram when in a horizontal state, right figure
When rotating clockwise β angle for steering engine mechanism controls hydrofoil, i.e., when hydrofoil is lifted upwards, the pressure difference that upper lower aerofoil is subject to becomes
Greatly, climbing power increases, and distance H of the cabin 5-1 apart from the water surface increases.When hydrofoil rotates counterclockwise β angle, i.e., hydrofoil turns downwards
Conversely, climbing power is reduced, distance H of the cabin 5-1 apart from the water surface reduces dynamic Shi Ze.
In embodiment, control unit also passes through the angle of rotation β that control steering engine mechanism 2-2 adjusts hydrofoil, realizes to entire
The control of the direction of advance of water life-saving equipment.
As shown in fig. 6, water flow 6-1 respectively flows through left and right hydrofoil, control unit controls right hydrofoil and is rotated up, and right hydrofoil is faced upward
Angle increases, and left hydrofoil keeps horizontal, and the climbing power 6-2 of right hydrofoil becomes larger, more than the climbing power 6-3 of left hydrofoil, the rising of generation
Power increases, therefore its right hydrofoil lifting, and entire water life-saving equipment is made to be in a state being tilted to the left.At this point, entire water
The stress condition of upper rescue aid is as shown in fig. 7, Fig. 7 is the transverse sectional view of water life-saving equipment, the cabin 7- of rescue aid
1, the climbing power 7-2 of right hydrofoil are more than the climbing power 7-3 of left hydrofoil, rise resultant force 7-5 have component 7-6 in the horizontal direction and
Component 7-7 in vertical direction, as shown in Figure 7, vertical stress component 7-7 can balance out the gravity 7-4 of rescue aid, therefore waterborne
Rescue aid can horizontal component 7-6 under the action of turn to the left.
For the schematic diagram to bend to right as shown in figure 8, water flow 8-1 respectively flows through left and right hydrofoil, control unit controls right hydrofoil
It rotates down, the right hydrofoil elevation angle reduces, and left hydrofoil keeps horizontal, and right hydrofoil is reduced by climbing power, therefore left hydrofoil is lifted, and is made
Entire platform is in a state being tilted to the right.
At this point, the stress condition of entire water life-saving equipment is as shown in figure 9, Fig. 9 is the lateral section view of water life-saving equipment
Figure, the cabin 9-1 of rescue aid, the climbing power 9-2 of right hydrofoil are less than the climbing power 9-3 of left hydrofoil, and rising resultant force 9-5 has
The component 9-6 of horizontal direction and component 9-7 in vertical direction, as shown in Figure 9, vertical stress component 9-7 can balance out rescue and set
Standby gravity 9-4, thus water life-saving equipment can horizontal component 9-6 under the action of bend to right.
Control unit can also be by controlling the tilt angle of the angular adjustment water life-saving equipment of hydrofoil, and then controls water
The size of the turning radius of upper rescue aid.As shown in Figure 10, in one embodiment, next in different situations in order to adapt to
The angular speed of turning is controlled, attitude transducer is provided in water life-saving equipment of the invention, the attitude transducer setting exists
In cabin, control unit is sent to for detecting the attitude angle of cabin, and by the attitude angle information.Described control unit uses
Closed loop control algorithm, such as PID closed loop control method, the attitude angle information sent according to attitude transducer is to water life-saving equipment
Tilt angle carry out closed-loop control.
In Figure 10, solid arrow V1 indicates speed when rescue aid advances, dotted arrow V2, solid arrow V3 generation respectively
The table generated speed of a level to the left under different size of centripetal acceleration effect, centripetal acceleration is bigger, then produces
Raw horizontal speed to the left is bigger.As shown in Figure 10 left figure, dotted arrow V2 is produced under biggish centripetal acceleration effect
The speed of a raw level to the left, L1 imaginary curve shown in Figure 10 right figure are the turn rail of rescue aid waterborne under V2 effect
Mark, R1 are its turning radius, and γ 1 is its initial turn angle.Therefore under biggish centripetal acceleration effect, water life-saving
The turning radius of equipment and initial turn angle are smaller.
Solid arrow V3 is the speed of a level generating under lesser centripetal acceleration effect to the left in Figure 10 left figure
It spends, the L2 solid-line curve in Figure 10 right figure is the corresponding turn track of rescue aid waterborne under V3 effect, and R2 is its turning radius, γ
2 be its initial turn angle.Therefore it under the effect of lesser centripetal acceleration, water life-saving equipment turning radius and initially turns
Bending angle is larger.
For water life-saving equipment in turning, the size for the centripetal force being subject to is related with the gradient of water life-saving equipment,
From embodiment before, the gradient of water life-saving equipment can be realized by adjusting the rotational angle of hydrofoil.Such as the left side Figure 10
Shown in figure, because the centripetal force that water life-saving equipment is subject to is bigger, then acceleration of turning is bigger, so the speed within the unit time
It spends bigger.Therefore, control unit can be by adjusting the rotational angle of hydrofoil, and then adjusts the inclination angle of water life-saving equipment
Degree realizes the control to angle of turn and turning speed size.
The above is only a kind of embodiments controlled by adjusting right hydrofoil the steering of water life-saving equipment, when need
When turning to the left, it can by way of controlling right hydrofoil and being rotated up, can also be turned downwards by controlling left hydrofoil
Dynamic mode (as shown in figure 11), or control simultaneously right hydrofoil be rotated up, left hydrofoil realize downwards to the left turning (as scheme
Shown in 12), the mode of control depends on height H of the cabin from the water surface and required turning speed.When height of the cabin from the water surface
When degree H is too low, when needing to increase the lift of hydrofoil generation, therefore needing to turn to the left at this time, control unit is right by control
Hydrofoil is rotated up, the mode of left hydrofoil holding level increases the lift of right hydrofoil, realizes that entire water life-saving device left turns
Height H of the cabin from the water surface is improved while curved；When height H of the cabin from the water surface is excessively high, need to reduce the liter of hydrofoil generation
Power, therefore when needing to turn to the left at this time, control unit rotates down by controlling left hydrofoil, the side of right hydrofoil holding level
Formula reduces the lift of left wing, reduces height H of the cabin from the water surface while realizing the turning of entire water life-saving device left.If
Height H of the cabin from the water surface is without adjustment, and control unit can left hydrofoil rotates down, right hydrofoil is rotated up by controlling
Mode is realized and is turned to the left.
The above is only the preferred embodiments of the disclosure, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, it is contemplated that combination, change or replacement should all contain
Lid is within protection scope of the present invention.Any combination of above embodiments is it is also contemplated that within the scope of the disclosure of the present application.
Claims (10)
1. a kind of Water wing type water life-saving equipment, characterized in that it comprises:
Cabin, the cabin are located on the water surface；
Hydrofoil structure described in hydrofoil structure is located under the water surface；
Propeller is used to provide the described the onward impulse of water life-saving equipment；
Control unit, described control unit are realized to cabin from the height of the water surface, preceding by controlling the rotational angle of the hydrofoil
Into direction, the control of turning radius.
2. Water wing type water life-saving equipment as described in claim 1, which is characterized in that the hydrofoil structure setting is in cabin
Bottom surface, the hydrofoil structure include the vertical connecting connecting with cabin bottom surface, also horizontal in the middle part of the vertical connecting
It is provided with the propeller, the lower end of the vertical connecting is also horizontally disposed horizontal brace rod, the horizontal brace rod
Front end is provided with the steering engine mechanism of control hydrofoil angle, is separately connected hydrofoil, the level at left and right sides of the steering engine mechanism
Empennage is provided at left and right sides of the rear end of connecting rod.
3. water life-saving equipment as claimed in claim 2, which is characterized in that the steering engine mechanism includes two steering engines, described
Hydrofoil is connect by rotation axis with steering engine, and the steering engine can drive the hydrofoil to rotate around the rotation axis, described two steering engines
The rotational angle of left and right hydrofoil can be adjusted separately.
4. water life-saving equipment as claimed in claim 3, which is characterized in that the steering engine has shell, and interior of shell includes
Rotation axis, driving gear, one end of connecting shaft connect driving gear, and the other end of the connecting shaft connects hydrofoil, to realize
The steering engine drives hydrofoil rotation by driving gear and connecting shaft.
5. water life-saving equipment as claimed in claim 3, which is characterized in that the steering engine mechanism further includes the detection of hydrofoil angle
Unit, the hydrofoil angle detection unit for detecting the rotational angle of left and right hydrofoil respectively.
6. water life-saving equipment as described in claim 1, which is characterized in that the cabin of the water life-saving equipment is detached from water
Face, hydrofoil is located at the water surface hereinafter, the rear portion of cabin is equipped with distance detection unit, and the distance detection unit is for detecting cabin
At a distance from the water surface.
7. water life-saving equipment as claimed in claim 6, which is characterized in that the distance detection unit includes rigid connection
Bar, the rigid connecting rod can around with cabin tie point, in vertical line and vertical plane where rigid connecting rod
Rotation, the tie point are provided with angular transducer, the angular transducer for measure the rigid connecting rod around with cabin
The angle of body tie point rotation, the end of the rigid connecting rod are provided with floating ball, and the floating ball can keep afloat, with cabin
With the difference of water surface elevation H, rigid connecting rod can rotate around tie point because of the buoyancy of floating ball and naturally be in different angles
θ, this angle, θ are the angle of vertical line and rigid connecting rod, and angular transducer measures angle value θ and is sent to control unit.
8. water life-saving equipment as claimed in claim 7, which is characterized in that control unit obtain after angle, θ can according to
Lower formula obtains height H of the cabin of water life-saving equipment apart from the water surface:
H=L*cos θ (1)；
Wherein, L is the length of rigid connecting rod.
9. water life-saving equipment as claimed in claim 8, which is characterized in that it is high that the length of the rigid connecting rod is greater than target
Angle value h, meets simultaneously: when rigid connecting rod is vertical, the least significant end of the floating ball is higher than the upper surface of horizontal brace rod.
10. water life-saving equipment as claimed in claim 9, which is characterized in that described control unit adjusts to regulate and control using PID
Height H between cabin and the water surface, following formula (2), obtain current level value H after can with the object height h of setting make it is poor
Value, and then obtain the feedback quantity that Δ h is adjusted as PID:
E (t)=Δ h=h-H (2):
In above-mentioned formula (2), e (t) is the error amount measured every time, and t is the unit of each acquisition data in discrete variable
Time interval, above-mentioned formula (2) can substitute into following PID and adjust in formula (3), the regulated value u (t) of the height value H obtained；Under
In the formula (3) in face, Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient；
After the height value u (t) adjusted required for obtaining, height value is converted to through hydrofoil angle-regulation structure and adjusts hydrofoil
Angle value in water makes cabin reach the height value h of target to change lift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910017566.8A CN109795610B (en) | 2019-01-08 | 2019-01-08 | Hydrofoil type water rescue equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910017566.8A CN109795610B (en) | 2019-01-08 | 2019-01-08 | Hydrofoil type water rescue equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109795610A true CN109795610A (en) | 2019-05-24 |
| CN109795610B CN109795610B (en) | 2020-11-20 |
Family
ID=66558593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910017566.8A Active CN109795610B (en) | 2019-01-08 | 2019-01-08 | Hydrofoil type water rescue equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795610B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10940917B2 (en) | 2016-09-12 | 2021-03-09 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| CN113044156A (en) * | 2021-03-30 | 2021-06-29 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for controlling inclination angle of hydrofoil |
| CN113401275A (en) * | 2021-07-30 | 2021-09-17 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for stepless control of hydrofoil inclination angle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4335671A (en) * | 1980-07-17 | 1982-06-22 | The Boeing Company | Flap leading edge for hydrofoil vessels and the like |
| DE20310449U1 (en) * | 2003-07-08 | 2004-01-15 | Fichtner, Johann Peter | Hydrofoil conversion for windsurfer has front and rear foils secured with clamping fittings and with the front foil controlled by a wave sensor |
| CN201745717U (en) * | 2010-02-02 | 2011-02-16 | 杨师尧 | Uncontrolled self regulation water wing assembly of deep soaking type water wing boat |
| CN105599859A (en) * | 2016-03-02 | 2016-05-25 | 哈尔滨工程大学 | Wave propelled catamaran with hydrofoil angle of attack adjusted by aid of hidden floaters |
| CN105905251A (en) * | 2016-06-03 | 2016-08-31 | 江苏科技大学 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
| CN206107504U (en) * | 2016-08-12 | 2017-04-19 | 东莞市吉尔伯顿体育用品有限公司 | Stabilize quick detachable hydrofoil board at a high speed |
| CN207141338U (en) * | 2017-09-08 | 2018-03-27 | 三门县合诚模具有限公司 | A kind of hydrofoil |
-
2019
- 2019-01-08 CN CN201910017566.8A patent/CN109795610B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4335671A (en) * | 1980-07-17 | 1982-06-22 | The Boeing Company | Flap leading edge for hydrofoil vessels and the like |
| DE20310449U1 (en) * | 2003-07-08 | 2004-01-15 | Fichtner, Johann Peter | Hydrofoil conversion for windsurfer has front and rear foils secured with clamping fittings and with the front foil controlled by a wave sensor |
| CN201745717U (en) * | 2010-02-02 | 2011-02-16 | 杨师尧 | Uncontrolled self regulation water wing assembly of deep soaking type water wing boat |
| CN105599859A (en) * | 2016-03-02 | 2016-05-25 | 哈尔滨工程大学 | Wave propelled catamaran with hydrofoil angle of attack adjusted by aid of hidden floaters |
| CN105905251A (en) * | 2016-06-03 | 2016-08-31 | 江苏科技大学 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
| CN206107504U (en) * | 2016-08-12 | 2017-04-19 | 东莞市吉尔伯顿体育用品有限公司 | Stabilize quick detachable hydrofoil board at a high speed |
| CN207141338U (en) * | 2017-09-08 | 2018-03-27 | 三门县合诚模具有限公司 | A kind of hydrofoil |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10940917B2 (en) | 2016-09-12 | 2021-03-09 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| US11479324B2 (en) | 2016-09-12 | 2022-10-25 | Kai Concepts, LLP | Watercraft device with hydrofoil and electric propeller system |
| US11919608B2 (en) | 2016-09-12 | 2024-03-05 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| CN113044156A (en) * | 2021-03-30 | 2021-06-29 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for controlling inclination angle of hydrofoil |
| CN113401275A (en) * | 2021-07-30 | 2021-09-17 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for stepless control of hydrofoil inclination angle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109795610B (en) | 2020-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795610A (en) | A kind of Water wing type water life-saving equipment | |
| CN103832564B (en) | A kind of design of shuttle shape underwater glider and control method | |
| CN100431918C (en) | Mixed submarine navigation device | |
| CN101808893B (en) | Method for controlling a surface drive for a watercraft in the upper speed range | |
| CN111301079B (en) | Cross-medium air-sea amphibious unmanned aerial vehicle | |
| CN206841690U (en) | A kind of partly latent unmanned boat buoyancy balance system | |
| CN100357155C (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN111547212B (en) | Buoyancy control method for unpowered rapid submerged-floating AUV | |
| CN105383654A (en) | Depth control device of autonomous underwater vehicle | |
| CN110435858A (en) | A kind of controllable pod propulsion underwater towed vehicle, of autonomous stabilisation multifreedom motion | |
| CN104386228A (en) | Fishtail type flapping hybrid power underwater glider structure | |
| WO2021248268A1 (en) | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid | |
| CN112591059B (en) | Underwater vehicle control method | |
| DK3168126T3 (en) | BEARINGS IN THE FORM OF A REVERSE T ADAPTED TO BE INSTALLED ON A BOAT | |
| CN113359785B (en) | Microminiature AUV underwater motion and hovering control method | |
| AU2012216553A1 (en) | Orientation of a wave energy converter for converting energy from the wave motion of a fluid into another form of energy | |
| CN105431351B (en) | For controlling the device of the Angle Position of the turbine blade of propeller set | |
| CN209366431U (en) | A kind of no paddle propulsion submersible | |
| US20140216025A1 (en) | Wave energy converter and method for operating a wave energy converter | |
| CN105923131B (en) | A kind of underwater glider wing with unsteady lift resistance ratio regulating mechanism | |
| CN110304224A (en) | Side pushes away submariner device and submariner method | |
| CN209327875U (en) | Coordinate augmentation control system in unmanned boat rolling-course | |
| CN212047837U (en) | Novel super-power-driven underwater helicopter | |
| CN105292416B (en) | Active balance pressure-resisting equipment and control method thereof | |
| CN109131766A (en) | A kind of self-balancing surfboard |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220110 Address after: 315100 1-46, No. 46-56, Jiqing street, Yinzhou District, Ningbo City, Zhejiang Province Patentee after: Ningbo micron supply chain Co.,Ltd. Address before: 315000 c1-3, workshop 5, No.2, Lane 189, Canghai Road, high tech Zone, Ningbo City, Zhejiang Province Patentee before: NINGBO JINGHAI ZHIHANG TECHNOLOGY Co.,Ltd. |