CN109823497A - A kind of software filling liquid underwater glider of weakly acidic pH buoyancy - Google Patents
A kind of software filling liquid underwater glider of weakly acidic pH buoyancy Download PDFInfo
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- CN109823497A CN109823497A CN201910028886.3A CN201910028886A CN109823497A CN 109823497 A CN109823497 A CN 109823497A CN 201910028886 A CN201910028886 A CN 201910028886A CN 109823497 A CN109823497 A CN 109823497A
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Abstract
The invention discloses a kind of software filling liquid underwater gliders of weakly acidic pH buoyancy, including software filling liquid cabin, pressure-resistant cabin, former dome, rear pod, wing unit, buoyancy adjustment unit, attitude regulation unit, main control unit and antenna element；Software filling liquid cabin is made of flexible covering, is assemblied in outside pressure-resistant cabin, can be filled with compressible liquid inside software filling liquid cabin；The outer leather bag of buoyancy adjustment unit is directly set in pressure-resistant cabin with contact with sea water, the high-pressure pump of buoyancy adjustment unit and interior fuel tank, attitude regulation unit and main control unit；Former dome and rear pod are respectively arranged at the front-end and back-end of pressure-resistant cabin；Wing unit is set on rear pod, and antenna element is set to the tail portion of rear pod.The aerodone can realize the passive buoyancy compensation based on marine environment pressure, temperature variation, reduce underwater glider close to neutral buoyancy, in aerodone motion process because of buoyancy adjustment bring energy consumption in the process of running.
Description
Technical field
The invention belongs to submarine navigation device fields, and in particular to be a kind of to carry out the close of adaptive buoyancy adjustment using filling liquid
Neutral buoyancy underwater glider.
Background technique
Underwater glider is a kind of novel sea detection monitoring equipment, with cruise duration is long, cruising range is wide, cost
It is low, easy to operate with intelligentized feature, by carrying different sensors, can efficiently complete a variety of marine environment detections with
Information collects task.The working principle of underwater glider is the movement driven in vertical plane using small buoyancy variation, energy consumption
It is substantially reduced.It is floating to will lead to aerodone for the density increase of seawater in vertical direction in the conventional rigid underwater glider course of work
Power increases, and rigid pressure hull reduces as the compressive deformation of working depth will lead to its buoyancy, and the two mismatches.Buoyancy
Variable quantity is identical with the driving force order of magnitude, is allowed to accurately control the stroke motion of aerodone.
By the design in flexible filling liquid cabin, the compressive deformation of aerodone structure and ocean temperature, variable density factor are examined
During considering Prototype Design, the weakly acidic pH buoyancy of aircraft is maintained by environment self-adaption shell, reduces active buoyancy tune
Section amount can be enhanced the flexibility and adaptive capacity to environment of underwater glider, enhance its cruising ability.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of software filling liquid water of weakly acidic pH buoyancy
Lower aerodone.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of software filling liquid underwater glider of weakly acidic pH buoyancy, including software filling liquid cabin, pressure-resistant cabin, former dome, after
Pod, wing unit, buoyancy adjustment unit, attitude regulation unit, main control unit and antenna element；Software filling liquid cabin is by soft
Property covering be made, be assemblied in outside pressure-resistant cabin, compressible liquid can be filled with inside software filling liquid cabin；Software filling liquid cabin is with seawater
The increase of pressure and the reduction volume of temperature reduce, otherwise volume is restored, to offset underwater glider as submerged depth increases
The buoyancy that density of sea water increases and generates increases；The outer leather bag of the buoyancy adjustment unit directly and contact with sea water, the buoyancy
The high-pressure pump and interior fuel tank, attitude regulation unit and main control unit for adjusting unit are set in pressure-resistant cabin；The former dome
The front-end and back-end of pressure-resistant cabin are respectively arranged at rear pod；The wing unit is set on rear pod, and wing unit is by hanging down
Straight wing and horizontal wings composition, the antenna element are set to the tail portion of rear pod.
Further, portion is equipped with self-closed type oil nozzle to the software filling liquid out of my cabin, through oil nozzle into software filling liquid cabin
Portion is filled with compressible liquid, and underwater glider is made to form good hydrodynamic(al) force outer form.
Further, the nitrile rubber substep vulcanization that the flexible covering is reinforced using structure of fibrous tissue is made,
Overall material has the characteristics that anisotropic.
Further, the compressible liquid is light mineral oil, has not only met the function of buoyancy adjustment, but also have both environment
The characteristics of friendly.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
1. can carry out passive buoyancy compensation by software filling liquid cabin to underwater glider, run underwater glider
Close to neutral buoyancy in journey, the demand to Buoyance adjustment unit adjusting oil mass is reduced, is reduced floating in aerodone motion process
Power adjusts bring energy consumption, improves cruise duration and the cruise course of underwater glider.
2. the adaptability of environment can be enhanced in the deformability that the flexible shape of aerodone shows, anticollision is played
And hidden effect, and the biological attachment on aircraft surface can be weakened.
Detailed description of the invention
Fig. 1 is appearance diagram of the invention.
Fig. 2 is schematic diagram of internal structure of the invention.
Appended drawing reference: 110- buoyancy adjustment unit；The outer leather bag of 1-；2- high-pressure pump；Fuel tank in 3-；4- attitude regulation unit；
5- main control unit；Pod after 6-；7- antenna element；120- wing unit；8- horizontal wings；9- vertical stabilizer；130- software fills
Liquid tank；10- oil nozzle；11- flexible covering；12- compressible liquid；13- pressure-resistant cabin；14- former dome.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, software filling liquid underwater glider of the invention, mainly include software filling liquid cabin 130, pressure-resistant cabin 13,
Former dome 14, rear pod 6, wing unit 120, buoyancy adjustment unit 110, attitude regulation unit 4, main control unit 5, antenna list
Member 7；Wherein the flexible covering 11 Yu pressure-resistant cabin 13 in software filling liquid cabin 130 assemble sealing, fitting completely both under non-filling liquid state.
Compressible liquid 12 is filled with into cabin by self-sealed oil nozzle 10, compressible liquid 12 chooses mineral oil in the present embodiment,
Internal pressure acts on lower flexible covering 11 and deforms, and whole system forms specific hydrodynamic(al) force outer form.Compressible liquid 12 can root
Volume change is carried out according to the variation of the temperature of external seawater, pressure, therefore the volume in software filling liquid cabin 130 is with working environment
Change and changes.Former dome 14 and rear pod 6 are permeable component, are assemblied on pressure-resistant cabin 13, buoyancy adjustment unit 110
Outer leather bag 1 directly and contact with sea water, the fuel-flow control between interior fuel tank 3 and outer leather bag 1 can actively be changed by high-pressure pump 2
Become the displacement of volume of underwater glider.
Pressure-resistant cabin 13 is made of metal material, and thermal expansion is negligible, it is only necessary to consider the compressive deformation of container.It is leading
Stream cover 14 and rear pod 6 are made by ABS；Solid material is smaller with the increase volume compression of pressure, is insufficiently resistant to
Density of sea water increases and bring buoyancy increment, aerodone system are gradually reduced with the increase net buoyancy of working depth.
Software filling liquid cabin 130 includes flexible covering 11, self-sealed oil nozzle 10 and compressible liquid 12.Flexible covering uses
The nitrile rubber material substep vulcanization that fibr tissue is reinforced is made, and not only ensure that the preferable ductility of rubber material, but also mention
Its high toughness.Structure of fibrous tissue makes flexible covering become anisotropy material, can be expanded under the action of supercharging pressure
Spindle makes underwater glider have good hydrodynamic force.When compressible liquid 12 is filled with, circumferential direction can expand change
Shape makes underwater glider form preferable hydrodynamic(al) force outer form.Compressible liquid 12 is with aerodone working environment pressure and temperature
Variation volume change occurs, passively adjust buoyancy, underwater glider made to reach weakly acidic pH buoyancy, weaken to buoyancy adjustment unit
The requirement of capacity.
Buoyancy adjustment unit 110 includes outer leather bag 1, high-pressure pump 2, interior fuel tank 3, for actively adjusting the displacement hull of aerodone
Product changes driving by buoyancy and floats and dive campaign.High-pressure pump 2 is used to complete the oil mass transmission of interior fuel tank 3 and outer leather bag 1,
Outer leather bag 1 directly contacts in former dome with seawater.
Attitude regulation unit 4 can change the heavy centre of buoyancy for adjusting aerodone by battery location, realize attitude regulation ability
And it is energized for whole system.Main control unit 5 is the hardware configuration of underwater gliding machine control system, and wing unit 120 includes Horizontal machine
The wing 8 and vertical tail 9, provide hydrodynamic force for aerodone.Antenna element 7 is navigation and the communication module of system.
Compressible liquid can be compressed according to temperature, the pressure of external seawater, make underwater glider in the process of running
Close to neutral buoyancy.Fluent material attribute and filling amount are needed according to working environment and underwater glider overall volume cooperated computing
It obtains.According to the physical parameter and environment friendly of common liquid, it is proposed that filling liquid uses mineral oil.Filling liquid volume passes through with lower section
Formula is calculated:
Compressive cabin is considered as uniform thin-walled external pressure cylinder, the calculation formula of volume are as follows:
The variable quantity of perimeter C, circumferential strain:
The variable quantity of length direction, axial strain
Volume change
Wherein εθAnd εγRespectively circumferential strain and axial strain coefficient, D, L, δ be respectively the diameter of pressure-resistant cabin, length and
Thickness.E is the elasticity modulus of material, and P is operating pressure.
Filling liquid volume change in soft cabin changes two factors by sea water static pressure and temperature and causes, calculation formula are as follows:
In formula, V1For the initial volume of soft cabin, EvFor the bulk modulus of filling liquid, α is the coefficient of cubical expansion.
Underwater glider stereomutation amount are as follows:
Δ V=VV+VL (6)
The variation of underwater glider overall buoyancy are as follows:
Δ B=ρ2g(V-ΔV)-ρ1GV=(ρ2-ρ1)gV-ρ2gΔV (7)
In formula, V is the initial volume of aircraft, and variable density can be calculated by following fitting formula:
ρ=c1H4+c2H3+c3H2+c4H+c5 (8)
In formula, H is working depth, c1~c5For fitting parameter, it is respectively as follows: -5.083 × 10–12, 1.95 × 10-8, -2.75
×10-5, 0.02248 and 1022.7.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of software filling liquid underwater glider of weakly acidic pH buoyancy, which is characterized in that including software filling liquid cabin, pressure-resistant cabin, preceding
Pod, rear pod, wing unit, buoyancy adjustment unit, attitude regulation unit, main control unit and antenna element；The software
Filling liquid cabin is made of flexible covering, is assemblied in outside pressure-resistant cabin, can be filled with compressible liquid inside software filling liquid cabin；Software filling liquid
Cabin reduces with the increase of seawater pressure and the reduction volume of temperature, otherwise volume is restored, to offset underwater glider under
Latent depth increases the buoyancy that density of sea water increases and generates and increases；The buoyancy adjustment unit includes outer leather bag, high-pressure pump and interior
Fuel tank, the outer leather bag are directly arranged with contact with sea water, the high-pressure pump, interior fuel tank, attitude regulation unit and main control unit
In in pressure-resistant cabin；The former dome and rear pod are respectively arranged at the front-end and back-end of pressure-resistant cabin；The wing unit setting
In on rear pod, wing unit is made of vertical stabilizer and horizontal wings, and the antenna element is set to the tail portion of rear pod.
2. the software filling liquid underwater glider of a kind of weakly acidic pH buoyancy according to claim 1, which is characterized in that described is soft
Portion is equipped with self-closed type oil nozzle to body filling liquid out of my cabin, by oil nozzle to compressible liquid is filled with inside software filling liquid cabin, makes underwater cunning
Xiang machine forms good hydrodynamic(al) force outer form.
3. the software filling liquid underwater glider of a kind of weakly acidic pH buoyancy according to claim 1, which is characterized in that the flexibility
The nitrile rubber substep vulcanization that covering is reinforced using structure of fibrous tissue is made, and overall material has the spy of anisotropic
Point.
4. a kind of software filling liquid underwater glider of weakly acidic pH buoyancy according to claim 1 or claim 2, which is characterized in that described
Compressible liquid is light mineral oil.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510086A (en) * | 2019-08-28 | 2019-11-29 | 上海大学 | A kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure |
| CN111516838A (en) * | 2020-04-24 | 2020-08-11 | 天津大学 | Seal-imitating underwater glider |
| CN111532405A (en) * | 2020-05-18 | 2020-08-14 | 天津大学 | Flexible shell of underwater glider and forming method thereof |
| CN111942549A (en) * | 2020-07-23 | 2020-11-17 | 天津大学 | Near-neutral underwater glider composite pressure-resistant shell |
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| DE3319481A1 (en) * | 1983-05-28 | 1984-11-29 | Jochen 7534 Birkenfeld Hasenmayer | Buoyancy body for diver counterbalancing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110510086A (en) * | 2019-08-28 | 2019-11-29 | 上海大学 | A kind of neutral buoyancy balancing device for realizing submarine mechanical wrist structure |
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| CN111532405A (en) * | 2020-05-18 | 2020-08-14 | 天津大学 | Flexible shell of underwater glider and forming method thereof |
| CN111942549A (en) * | 2020-07-23 | 2020-11-17 | 天津大学 | Near-neutral underwater glider composite pressure-resistant shell |
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Application publication date: 20190531 |