CN112659828B - Batwing type attitude adjusting device of high-speed amphibious vehicle and control method thereof - Google Patents
Batwing type attitude adjusting device of high-speed amphibious vehicle and control method thereof Download PDFInfo
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- CN112659828B CN112659828B CN202110108093.XA CN202110108093A CN112659828B CN 112659828 B CN112659828 B CN 112659828B CN 202110108093 A CN202110108093 A CN 202110108093A CN 112659828 B CN112659828 B CN 112659828B
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- 238000000034 method Methods 0.000 title claims abstract description 81
- 240000003380 Passiflora rubra Species 0.000 title claims abstract description 44
- 210000002758 humerus Anatomy 0.000 claims abstract description 119
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 238000007789 sealing Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 16
- 230000001965 increasing effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000007704 transition Effects 0.000 abstract description 11
- 230000000903 blocking effect Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241001481833 Coryphaena hippurus Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000000007 bat wing Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T70/10—Measures concerning design or construction of watercraft hulls
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Abstract
The invention discloses a batwing type attitude adjusting device of a high-speed amphibious vehicle and a control method thereof, and aims to provide a device and a control method capable of realizing drag reduction and synergy and ensuring sailing stability. The apparatus includes a horizontal tail unit, a batwing unit, and a controller. The horizontal tail unit comprises a horizontal tail consisting of an inner layer plate and an outer layer plate, an inner layer plate telescopic driving mechanism and a horizontal tail telescopic driving mechanism; the batwing unit comprises batwing plates consisting of a first humerus plate, a first side wing plate, a second humerus plate and a second side wing plate, wherein the first humerus plate, the first side wing plate, the second humerus plate and the second side wing plate are respectively connected with the tail part of a main vehicle body through wing plate telescopic driving mechanisms, and the first humerus plate, the first side wing plate, the second humerus plate and the second side wing plate are respectively hinged with the main vehicle body through hinge shafts positioned at the boundary line between the bottom surface of the vehicle and the transition tail sealing plate. The device is designed in a blocking way and is controlled independently, so that the adaptability to different working conditions is enhanced; the stability of sailing is ensured.
Description
Technical Field
The invention relates to the technical field of amphibious vehicles, in particular to a batwing type attitude adjusting device of a high-speed amphibious vehicle and a control method thereof.
Background
The amphibious vehicle is a special vehicle which has the characteristics of both vehicles and ships, can run on land and can float over water. The method is mainly used in the professional fields of military, disaster relief, detection and the like.
Compared with common high-performance ships such as a planing boat and a multi-body ship, the amphibious vehicle has high weight density, poor structural linear flow linearity and higher resistance coefficient under the same sailing condition; in addition, the aspect ratio of the amphibious vehicle is smaller, the bottom surface of the tail is cut to form an inclined rise in order to ensure that the vehicle cannot touch the bottom when passing through complex terrains, the effective length of the vehicle is further reduced, even if an excellent water jet propulsion system is provided, a large sailing pitch angle tends to occur easily under a high-navigational speed working condition, the optimal resistance performance cannot be achieved, the longitudinal stability cannot be guaranteed, and a large challenge is provided for the development of the amphibious vehicle to the high-speed direction.
The spoiler and the wedge plate are used as a common device for improving the sailing performance of the high-performance ship, can achieve the effects of adjusting the sailing posture and improving the longitudinal stability by changing the pressure distribution of the bottom surface of the ship, and also have application on the middle-low-speed amphibious vehicle; however, the wedge-shaped plate cannot adapt to the change of the navigational speed to obtain the optimal navigational performance because the angle of the wedge-shaped plate is fixed, and the spoiler can be vertically adjusted, but the improper control of the downward extending height can cause the transverse instability condition, and the wedge-shaped plate and the spoiler have obvious accessory characteristics, so that the flow linearity at the bottom of the vehicle is damaged to a certain extent, the navigational resistance of the vehicle can be increased under certain working conditions, and the wedge-shaped plate has certain technical difficulty when being applied to the high-speed amphibious vehicle.
Therefore, by combining the bottom surface and tail structure characteristics of the amphibious vehicle, the design of the vehicle posture adjusting device with multiple adaptability has important significance for improving the comprehensive performance of the high-speed amphibious vehicle.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art, and provides a batwing type attitude adjusting device capable of realizing drag reduction and synergy of a high-speed amphibious vehicle and ensuring navigation stability.
The invention further aims to provide a control method of the batwing type attitude adjusting device, which can realize drag reduction and synergy of the high-speed amphibious vehicle and ensure navigation stability.
The technical scheme adopted for realizing the purpose of the invention is as follows:
A batwing type attitude adjusting device of a high-speed amphibious vehicle comprises a horizontal tail unit, a batwing unit and a controller; the horizontal tail unit comprises a horizontal tail formed by an inner layer plate and an outer layer plate, an inner layer plate telescopic driving mechanism and a horizontal tail telescopic driving mechanism, and the inner layer plate and the outer layer plate are in telescopic connection; the bat type wing unit comprises a bat type wing plate consisting of a first humerus wing plate, a first side wing plate, a second humerus wing plate and a second side wing plate, wherein the first humerus wing plate, the first side wing plate, the second humerus wing plate and the second side wing plate are respectively connected with the tail part of a main vehicle body through wing plate telescopic driving mechanisms, the first humerus wing plate, the first side wing plate, the second humerus wing plate and the second side wing plate are respectively hinged with the main vehicle body through hinge shafts positioned at the boundary line between the bottom surface of the vehicle and an excessive tail sealing plate, one end of the first humerus wing plate is in sliding connection with one side of an outer layer plate, the other end of the first humerus wing plate is in lap joint with the first side wing plate, one end of the second humerus wing plate is in sliding connection with the other side of the outer layer plate, and the other end of the second side wing plate is in lap joint with the second side wing plate; the controller is respectively connected with the inner layer plate telescopic driving mechanism, the horizontal tail wing telescopic driving mechanism and the wing plate telescopic driving mechanism and controls the horizontal tail wing unit and the batwing unit to act.
The inner layer plate telescopic driving mechanism comprises an inner layer plate telescopic driving motor, and the inner layer plate telescopic driving motor is connected with the inner layer plate through a first bevel gear transmission mechanism and a first gear rack transmission mechanism and drives the inner layer plate to realize telescopic movement in the outer layer plate.
The horizontal tail telescopic driving mechanism comprises a horizontal tail telescopic driving motor, and the horizontal tail telescopic driving motor is connected with the outer layer plate through a second bevel gear transmission mechanism and a second gear rack transmission mechanism and drives the horizontal tail formed by the outer layer plate and the inner layer plate to realize telescopic movement.
The wing plate telescopic driving mechanism is an electric hydraulic supporting rod, sliding grooves are formed in the upper surfaces of the first upper arm wing plate, the first side wing plate, the second upper arm wing plate and the second side wing plate respectively, the direction of each sliding groove is perpendicular to the hinging shaft, the free ends of the corresponding electric hydraulic supporting rods are installed in the corresponding sliding grooves, and the fixed ends of the electric hydraulic supporting rods are connected with the main vehicle body.
Guide rails are respectively arranged between the first humerus plate and the outer layer plate and between the second humerus plate and the outer layer plate.
A control method of a batwing type attitude adjustment device of a high-speed amphibious vehicle comprises a control method after the vehicle enters water, a control method under a high-speed sailing state, a control method in a low-speed process from high-speed steering, a control method for a reversing working condition in a sailing process on water and a control method before logging in;
The control method after the vehicle enters water comprises the following steps: adjusting the first humerus plate and the second humerus plate to keep the first humerus plate and the second humerus plate flush with the bottom surface of the vehicle, adjusting the horizontal tail fin to extend out, and adjusting the first side wing plate and the second side wing plate to rotate downwards but not cross the bottom surface of the vehicle to complete the unfolding of the batwing type attitude adjusting device;
The control method under the high-speed navigation state comprises the following steps: under the condition that the first humerus plate, the second humerus plate and the horizontal tail wing are unfolded, the first side wing plate and the second side wing plate are adjusted to pass through the bottom surface of the vehicle, and the adjustment degree of the longitudinal inclination angle of the vehicle is increased;
The control method of the low-speed process in the steering from high speed comprises the following steps: in the gradual deceleration process of the vehicle, the first side wing plate and the second side wing plate are adjusted to gradually rotate upwards, and meanwhile, the extension degree of the horizontal tail wing is reduced;
The control method of the reversing working condition in the water navigation process comprises the following steps: controlling the horizontal tail wing to be recycled into the car body, and adjusting the first humerus wing plate, the second humerus wing plate, the first edge wing plate and the second edge wing plate to shrink, so that the influence of the horizontal tail wing and the bat type wing plate on reversing water flow is eliminated;
the control method before login comprises the following steps: the horizontal tail wing is controlled to be completely retracted into the vehicle body, and the first humerus wing plate, the second humerus wing plate, the first edge wing plate and the second edge wing plate are adjusted to be respectively retracted upwards in a rotating mode to the greatest extent, so that the influence on the landing and the land running of the vehicle is avoided.
The method comprises a control method of a humerus plate, wherein the control method of the humerus plate comprises the following steps: in the state that the horizontal tail wing is completely retracted, the controller controls the wing plate telescopic driving mechanism corresponding to the first wing plate or the second wing plate to act, so that the first wing plate or the second wing plate is pushed to rotate around the corresponding hinge shaft until the first wing plate or the second wing plate reaches a specified angle, and the controller controls the corresponding wing plate telescopic driving mechanism to stop acting.
The method for controlling the edge wing plate comprises the following steps: the controller controls the wing plate telescopic driving mechanism corresponding to the first side wing plate or the second side wing plate to act and pushes the first side wing plate or the second side wing plate to rotate around the corresponding hinge shaft until the first side wing plate or the second side wing plate reaches a specified angle, and the controller controls the corresponding wing plate telescopic driving mechanism to stop acting.
The horizontal tail control method comprises the following steps: when the horizontal tail wing is required to extend, under the condition that the first humerus plate and the second humerus plate are unfolded to be level with the bottom surface of the vehicle, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to extend out of the outer layer plate, and when the inner layer plate reaches the maximum stroke, the controller controls the inner layer plate telescopic driving mechanism to stop acting; then, the controller controls the horizontal wing plate telescopic driving mechanism to act to drive the horizontal wing plate to integrally extend out to the maximum stroke of the horizontal wing plate, and the controller controls the horizontal wing plate telescopic driving mechanism to stop acting; when the horizontal tail wing is required to shrink, under the condition that the first humerus plate and the second humerus plate are unfolded to be parallel to the bottom surface of the vehicle, the controller controls the horizontal wing plate telescopic driving mechanism to act so as to drive the horizontal wing plate to shrink integrally until the outer layer plate is completely retracted, and controls the horizontal wing plate telescopic driving mechanism to stop acting; and then, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to shrink into the outer layer plate, and controls the inner layer plate telescopic driving mechanism to stop acting.
Compared with the prior art, the invention has the beneficial effects that:
1. The batwing type attitude adjusting device comprises the horizontal tail wing unit and the batwing unit which are unfolded in the whole vehicle width range, so that the effective area of the bottom surface of the vehicle is effectively increased, the lifting of the vehicle body is more obvious in the high-speed sailing process, meanwhile, the pressure distribution of the bottom of the vehicle is changed by the increased area of the wing plate, the pressure action center is more backward, the pitch angle of the vehicle is reduced, and the vehicle is favorable for reducing sailing resistance and improving longitudinal stability.
2. The wing plates in the batwing type attitude adjusting device are independently designed in a blocking manner, can be independently unfolded and recycled, can be unfolded to a controllable degree, and can be used for enhancing the adaptability to different working conditions.
3. The batwing type attitude adjusting device maintains good consistency with the vehicle main body, has no obvious adverse effect on other performances of the vehicle, and is easy to realize.
4. The horizontal tail fin is of a double-layer telescopic structure, and adjustment adaptability of various working conditions is enhanced.
5. The batwing type attitude adjusting device is controlled by combining electric drive with a mechanical executing end, and can ensure the structural strength of the executing end while realizing accurate adjustment, and has high reliability and simple realization.
Drawings
FIG. 1 is a schematic view of the batwing attitude adjustment device and tail body of the present invention;
FIG. 2 is a longitudinal view of FIG. 1;
FIG. 3 is a developed schematic view of the batwing attitude adjustment device of the present invention;
fig. 4 is a schematic view showing the structure of the telescopic driving mechanism of the horizontal rear wing of the attitude adjusting device according to the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the specific embodiments.
The distribution schematic diagram of the batwing type attitude adjusting device and the tail vehicle body is shown in figure 1, and the batwing type amphibious vehicle attitude adjusting device B is positioned at a transition position between the vehicle bottom surface 1 and the vertical tail sealing plate 2 and is arranged in the whole vehicle width range and matched with the amphibious vehicle main body A. The vehicle bottom surface 1 extends backwards to a transition tail sealing plate 3, a vertical tail sealing plate 2 of the vehicle is arranged behind the transition tail sealing plate 3, a nozzle 5 of a vehicle water jet propeller is positioned in a plane of the transition tail sealing plate 3, and the vehicle water jet propeller further comprises a port side, a starboard side and wheels 4; the transition tail sealing plate 3 is of a slope transition structure of the bottom surface of the vehicle at the tail.
The batwing type attitude adjusting device of the high-speed amphibious vehicle is shown in the structural schematic diagrams of fig. 2-4 and comprises a horizontal tail unit, a batwing unit and a controller 15.
The horizontal tail unit comprises a horizontal tail formed by an inner layer plate 6b and an outer layer plate 6a, an inner layer plate telescopic driving mechanism and a horizontal tail telescopic driving mechanism, wherein the inner layer plate 6b is in telescopic connection with the outer layer plate 6 a. In this embodiment, the connection manner of the inner layer plate and the outer layer plate is: the two sides of the inner layer plate 6b are inserted into the inserting sliding grooves on the two sides of the outer layer plate 6a, and can slide with the outer layer plate 6 a.
The batwing unit comprises batwing plates consisting of a first humerus plate 7a, a first side wing plate 7c, a second humerus plate 7b and a second side wing plate 7d, wherein the first humerus plate 7a, the first side wing plate 7c, the second humerus plate 7b and the second side wing plate 7d are respectively connected with the tail part of a main vehicle body A through wing plate telescopic driving mechanisms, and the first humerus plate 7a, the first side wing plate 7c, the second humerus plate 7b and the second side wing plate 7d are respectively hinged with the main vehicle body A through hinge shafts 8a, 8b, 8c and 8d positioned at the boundary line between the bottom surface of the vehicle and the excessive tail sealing plate 3. In this embodiment, the wing plate telescopic driving mechanism adopts an electro-hydraulic stay, and includes four electro-hydraulic stays 9a, 9b, 9c and 9d. The concrete structure is as follows: on the upper surfaces of the first humerus plate 7a, the first side wing plate 7c, the second humerus plate 7b, and the second side wing plate 7d, sliding grooves 10a, 10b, 10c, and 10d are provided, respectively, in which the direction of the sliding grooves is perpendicular to the hinge shaft. The free end of the electric hydraulic stay bar 9b is arranged in a sliding groove 10b on the first humerus plate, the fixed end of the electric hydraulic stay bar 9b passes through the transition tail sealing plate 3 to be connected with the tail of the main vehicle body A, and the first humerus plate 7a is hinged with the main vehicle body through a hinge shaft 8 b. The free end of the electric hydraulic supporting rod 9a is arranged in a sliding groove 10a on the first side wing plate 7c, the fixed end of the electric hydraulic supporting rod 9a penetrates through the transition tail sealing plate 3 to be connected with the tail of the main vehicle body A, and the first side wing plate 7c is hinged with the main vehicle body through a hinge shaft 8 a. The free end of the electric hydraulic stay bar 9c is arranged in a sliding groove 10c on the second humerus plate, the fixed end of the electric hydraulic stay bar 9c passes through the transition tail sealing plate 3 to be connected with the tail of the main vehicle body A, and the second humerus plate 7b is hinged with the main vehicle body through a hinge shaft 8 c. The free end of the electric hydraulic supporting rod 9d is arranged in a sliding groove 10d on the second side wing plate, the fixed end of the electric hydraulic supporting rod 9d penetrates through the transition tail sealing plate 3 to be connected with the tail of the main vehicle body A, and the second side wing plate 7d is hinged with the main vehicle body through a hinge shaft 8 d.
One end of the first humerus plate 7a is slidably connected with one side of the outer layer plate 6a, the other end of the first humerus plate is overlapped with the first side wing plate 7c, one end of the second humerus plate 7b is slidably connected with the other side of the outer layer plate 6a, the other end of the second humerus plate is overlapped with the second side wing plate 7d, and the first side wing plate 7c, the first humerus plate 7a, the second humerus plate 7b and the second side wing plate 7d are arranged in a batwing shape within the whole vehicle width range after being unfolded.
The controller 15 is respectively connected with the inner layer plate telescopic driving mechanism, the horizontal tail wing telescopic driving mechanism and the wing plate telescopic driving mechanism, and controls the horizontal tail wing unit and the batwing unit to act.
In this embodiment, the inner-layer board telescopic driving mechanism includes an inner-layer board telescopic driving motor 14b, where the inner-layer board telescopic driving motor 14b is connected with the inner-layer board 6b through a first bevel gear transmission mechanism and a first rack-and-pinion transmission mechanism, and drives the inner-layer board to implement telescopic motion from the inner-layer board and the outer-layer board. The concrete structure is as follows: the inner layer plate telescopic driving motor 14b drives the transmission shaft 13d, the bevel gears 12g and 12f, the transmission shaft 13c, the gear 12e and the first rack meshed with the gear 12e, and the gear 12e is driven to move along the first rack by the action of the inner layer plate telescopic driving motor, so that the inner layer plate is telescopic along the outer layer plate.
In this embodiment, the horizontal tail telescopic driving mechanism includes a horizontal tail telescopic driving motor 14a, and the horizontal tail telescopic driving motor 14a is connected with the outer layer plate 6a through a second bevel gear transmission mechanism and a second gear rack transmission mechanism, so as to drive the horizontal tail formed by the outer layer plate and the inner layer plate to realize telescopic movement. The concrete structure is as follows: the horizontal wing plate telescopic driving motor 14a drives the transmission shaft 13b, bevel gears 12c and 12d, the transmission shaft 13a, the gear 12a and racks meshed with the gear 12a, the transmission shaft 13a drives the gear 12b and racks meshed with the gear 12b, and the inner layer plate telescopic driving motor acts to drive the gear 12b and the gear 12a to move along the racks respectively meshed with the gears, so that the horizontal tail fin is driven to stretch.
In this embodiment, a guide rail 11a is installed between the first humerus plate 7a and the outer plate 6a, and a guide rail 11b is installed between the second humerus plate 7b and the outer plate 6 a.
The control of the batwing posture adjusting device of the present invention, the adjustment of the angles of the first humerus plate and the second humerus plate must be performed in a state where the horizontal tail 6 is fully retracted, and the action of the horizontal tail 6 must also be performed in a state where the first humerus plate and the second humerus plate remain in alignment with the bottom surface of the vehicle; in addition, the sequence of the control and the adjustment degree of each part of the device are not affected, and the device can be used for coping according to actual working conditions.
The control method of the batwing type attitude adjusting device of the high-speed amphibious vehicle comprises a humerus wing plate action control method, a side wing plate action control method and a horizontal tail wing action control method. The specific control method comprises the following steps:
The method for controlling the action of the wing plate of the humerus comprises the following steps: in the state that the horizontal tail is fully retracted, the controller 15 controls the wing plate telescopic driving mechanism corresponding to the first or second humerus wing plate to act, so as to push the first or second humerus wing plate to rotate around the corresponding hinge shaft until the first or second humerus wing plate reaches a specified angle, and the controller controls the wing plate telescopic driving mechanism to stop acting.
The edge wing plate action control method comprises the following steps: the controller controls the wing plate telescopic driving mechanism corresponding to the first side wing plate or the second side wing plate to act and pushes the first side wing plate or the second side wing plate to rotate around the corresponding hinge shaft until the first side wing plate or the second side wing plate reaches a specified angle, and the controller controls the corresponding wing plate telescopic driving mechanism to stop acting.
The horizontal tail telescopic control method comprises the following steps: when the horizontal tail wing is required to extend, under the condition that the first humerus plate and the second humerus plate are unfolded to be level with the bottom surface of the vehicle, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to extend out of the outer layer plate, and when the inner layer plate reaches the maximum stroke, the controller controls the inner layer plate telescopic driving mechanism to stop acting; then, the controller controls the horizontal wing plate telescopic driving mechanism to act to drive the horizontal wing plate to integrally extend out to the maximum stroke of the horizontal wing plate, and the controller controls the horizontal wing plate telescopic driving mechanism to stop acting; when the horizontal tail wing is required to shrink, under the condition that the first humerus plate and the second humerus plate are unfolded to be parallel to the bottom surface of the vehicle, the controller controls the horizontal wing plate telescopic driving mechanism to act so as to drive the horizontal wing plate to shrink integrally until the outer layer plate is completely retracted, and controls the horizontal wing plate telescopic driving mechanism to stop acting; and then, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to shrink into the outer layer plate, and controls the inner layer plate telescopic driving mechanism to stop acting.
In this embodiment, the horizontal tail telescopic control signal output end of the controller 15 is connected with the control signal input end of the horizontal tail telescopic driving motor 14a, the inner layer board telescopic control signal output end of the controller 15 is connected with the control signal input end of the inner layer board telescopic driving motor 14b, and the telescopic action of the inner layer board or the outer layer board is realized by controlling the start and stop of the horizontal tail telescopic driving motor 14a and the inner layer board telescopic driving motor 14b. The first humerus plate expansion driving signal output end of the controller 15 is connected with the control signal input end of the electro-hydraulic supporting rod 9b for controlling the expansion of the first humerus plate, and the retraction of the first humerus plate is realized by controlling the action of the electro-hydraulic supporting rod 9 b. The second humerus plate expansion driving signal output end of the controller 15 is connected with the control signal input end of the electro-hydraulic supporting rod 9c for controlling the expansion of the second humerus plate, and the second humerus plate is folded and unfolded by controlling the action of the electro-hydraulic supporting rod 9 c. The first side wing plate expansion driving signal output end of the controller 15 is connected with the control signal input end of the electro-hydraulic supporting rod 9a for controlling the expansion of the first side wing plate, and the expansion of the first side wing plate is realized by controlling the action of the electro-hydraulic supporting rod 9 a. The second side wing plate expansion driving signal output end of the controller 15 is connected with the control signal input end of the electric hydraulic supporting rod 9d for controlling the expansion of the second side wing plate, and the second side wing plate is folded and unfolded by controlling the action of the electric hydraulic supporting rod 9 d.
The specific control method comprises the following steps:
(1) The unfolding process of the humerus plate: the downward movement of the electro-hydraulic struts 9b, 9c is controlled by the controller 15 such that the free ends of the electro-hydraulic struts 9b extend down the runner of the upper surface of the first humerus plate 7a and the free ends of the electro-hydraulic struts 9c extend down the runner of the upper surface of the second humerus plate 7 b. The electro-hydraulic strut 9b pushes the first humeral plate 7a to rotate about the hinge shaft 8b until the first humeral plate 7a reaches a specified angle, the electro-hydraulic strut 9b being controlled to stop acting. The electro-hydraulic stay 9c pushes the second humerus plate 7b to rotate around the hinge shaft 8c until the second humerus plate 7b reaches a specified angle, and the electro-hydraulic stay 9c is controlled to stop acting.
(2) The unfolding process of the edge wing plate comprises the following steps: the controller 15 controls the electro-hydraulic support rods 9a and 9d to move downwards, so that the free end of the electro-hydraulic support rod 9a extends downwards along the sliding groove on the upper surface of the first side wing plate 7c, and the free end of the electro-hydraulic support rod 9d extends downwards along the sliding groove on the upper surface of the second side wing plate. The electro-hydraulic strut 9a pushes the first side wing 7c to rotate around the hinge shaft 8c until the first side wing reaches a specified angle, and the electro-hydraulic strut 9a is controlled to stop acting. The electro-hydraulic strut 9d pushes the second side wing panel 7d to rotate around the hinge shaft 8d until the second side wing panel reaches a specified angle, and the electro-hydraulic strut 9d is controlled to stop acting.
(3) The horizontal tail extends: under the condition that the first humerus plate 7a and the second humerus plate 7b are unfolded to be flush with the bottom surface of the vehicle, the controller 15 instructs the inner layer plate telescopic driving motor 14b to rotate positively, the gears 12f and 12g are used for driving the gears 12e to rotate, so that the horizontal tail inner layer plate 6b is controlled to extend, when the horizontal tail inner layer plate reaches the maximum stroke, the inner layer plate telescopic driving motor 14b stops rotating, then the controller 15 instructs the horizontal wing plate telescopic driving motor 14a to rotate positively, the gears 12a and 12b are driven to rotate through the middle transmission shafts 13a and 13b and the gears 12c and 12d, and the horizontal tail 6 is controlled to extend integrally along the guide rails 11a and 11b until the horizontal wing plate telescopic driving motor 14a stops rotating when the horizontal tail inner layer plate 6b reaches the maximum stroke.
(4) The horizontal tail recovery process comprises the following steps: the controller 15 instructs the horizontal wing plate telescopic driving motor 14a to reversely rotate, the driving gears 12a and 12b rotate, and the horizontal tail 6 is controlled to be integrally recovered along the guide rails 11a and 11b until the outer layer plate 6a of the horizontal tail is completely recovered, and the horizontal wing plate telescopic driving motor 14a is stopped. Thereafter, the controller 15 instructs the inner deck expansion driving motor 14b to rotate reversely, and the driving gear 12e rotates until the inner deck 6b of the horizontal rear wing is completely retracted, and the inner deck expansion driving motor 14b stops.
(5) The contraction process of the edge wing plate comprises the following steps: the controller 15 controls the electro-hydraulic supporting rods 9a and 9d to act upwards, the electro-hydraulic supporting rod 9a drives the first side wing plate 7c to rotate upwards around the hinge shaft 8a until the first side wing plate reaches a specified angle, and the electro-hydraulic supporting rod 9a stops acting under the instruction of the controller 15; the electro-hydraulic stay bar 9d drives the second side wing plate 7d to rotate upwards around the hinge shaft 8d until the second side wing plate reaches a specified angle, and the electro-hydraulic stay bar 9d stops acting under the instruction of the controller 15.
(6) The contraction process of the humerus plate: the controller 15 controls the electro-hydraulic stay bars 9b and 9c to act upwards, the electro-hydraulic stay bar 9b drives the first humerus plate 7a to rotate upwards around the hinge shaft 8b for recovery until the first humerus plate 7a reaches a specified angle, and the controller 15 instructs the electro-hydraulic stay bar 9b to stop acting. The electro-hydraulic stay bar 9c drives the second humerus plate 7b to rotate upwards around the hinge shaft 8c for recovery until the second humerus plate 7b reaches a specified angle, and the controller 15 instructs the electro-hydraulic stay bar 9c to stop acting.
The control method of the batwing type attitude adjusting device of the high-speed amphibious vehicle is realized through the control of the parts, and comprises a control method after the vehicle enters water, a control method in a high-speed sailing state, a control method in a low-speed process from high-speed steering, a control method for a reversing working condition in a sailing process on water and a control method before logging.
Before launching, the whole batwing posture adjusting device B is in a contracted state in order to ensure the land traveling functionality. The control method after the vehicle enters water comprises the following steps: the first humerus plate 7a and the second humerus plate 7b are adjusted to be level with the vehicle bottom surface 1, the horizontal tail wing 6 is adjusted to extend along the guide rails 11a and 11b, and the first side wing plate 7c and the second side wing plate 7d are adjusted to rotate downwards by a certain angle without crossing the vehicle bottom surface, so that the batwing type posture adjusting device is unfolded. The defect of the water contact area at the tail of the vehicle is compensated, the hydrodynamic pressure distribution at the bottom of the vehicle can be improved, the excessive longitudinal inclination angle is prevented in the middle-low speed sailing process, the sailing resistance is reduced, and the longitudinal stability is improved.
The control method under the high-speed navigation state comprises the following steps: when the first humerus plate 7a, the second humerus plate 7b and the horizontal tail 6 are all unfolded, the first side wing plate 7c and the second side wing plate 7d are adjusted to pass over the bottom surface of the vehicle by a certain angle, and the degree of adjustment of the pitch angle of the vehicle is increased. The aim is that: along with the fact that the vehicle enters a sliding state and continuously accelerates, the critical speed of the movement of the dolphin is continuously approached, and the unstable situation of the pitch angle is easy to generate under the action of external disturbance, so that the pressure at the tail of the vehicle is further increased by increasing the downward rotation angle of the side wing plate, the pitch restoring moment is formed, and the stability of the vehicle posture is ensured.
The control method of the low-speed process in the steering from high speed comprises the following steps: during the gradual deceleration of the vehicle, the first side wing plate 7c and the second side wing plate 7d are adjusted to gradually rotate upwards, and the extension degree of the horizontal tail 6 is reduced at the same time; the aim is that: when the vehicle is decelerating, the original pitching restoring moment is avoided to be plough-in moment through the recovery of the side wing plates and the horizontal tail wing, so that the stability of the pitching attitude of the vehicle is maintained.
The control method of the reversing working condition in the water navigation process comprises the following steps: the horizontal tail 6 is controlled to be recycled into the car body, the first humerus wing plate 7a, the second humerus wing plate 7b, the first edge wing plate 7c and the second edge wing plate 7d are regulated to shrink to a certain extent, the influence of the horizontal tail and the bat wing plates on reversing water flow is eliminated, and the car is convenient to quickly and effectively complete reversing adjustment.
The control method before login comprises the following steps: the horizontal rear wing 6 is controlled to be completely retracted into the vehicle body, and the first humerus wing plate 7a, the second humerus wing plate 7b, the first side wing plate 7c and the second side wing plate 7d are adjusted to perform maximum upward rotation and contraction respectively, so as to ensure that the vehicle is not affected by landing and on-land running.
The batwing type attitude adjusting device has the batwing plate and the horizontal tail wing plate which are unfolded in the whole vehicle width range, so that the effective area of the bottom surface of the vehicle is effectively increased, the lifting of the vehicle body is more obvious in the high-speed sailing process, the pressure distribution of the bottom of the vehicle is changed by the increased area of the wing plate, the longitudinal inclination angle of the vehicle is reduced after the pressure action center is more, and the effects of reducing the sailing resistance and improving the longitudinal stability are good; each wing plate of the adjusting device is independently designed in a blocking way, can be automatically unfolded and recycled, is controllable in unfolding degree, and enhances the adaptability to different working conditions; the structure of the device keeps good consistency with the vehicle main body, has no obvious adverse effect on other performances of the vehicle, and ensures the sailing stability.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (7)
1. The batwing type attitude adjusting device of the high-speed amphibious vehicle is characterized by comprising a horizontal tail wing unit, a batwing unit and a controller; the horizontal tail unit comprises a horizontal tail formed by an inner layer plate and an outer layer plate, an inner layer plate telescopic driving mechanism and a horizontal tail telescopic driving mechanism, and the inner layer plate and the outer layer plate are in telescopic connection; the bat type wing unit comprises a bat type wing plate consisting of a first humerus wing plate, a first side wing plate, a second humerus wing plate and a second side wing plate, wherein the first humerus wing plate, the first side wing plate, the second humerus wing plate and the second side wing plate are respectively connected with the tail part of a main vehicle body through wing plate telescopic driving mechanisms, the first humerus wing plate, the first side wing plate, the second humerus wing plate and the second side wing plate are respectively hinged with the main vehicle body through hinge shafts positioned at the boundary line between the bottom surface of the vehicle and an excessive tail sealing plate, one end of the first humerus wing plate is in sliding connection with one side of an outer layer plate, the other end of the first humerus wing plate is in lap joint with the first side wing plate, one end of the second humerus wing plate is in sliding connection with the other side of the outer layer plate, and the other end of the second side wing plate is in lap joint with the second side wing plate; the controller is respectively connected with the inner layer plate telescopic driving mechanism, the horizontal tail wing telescopic driving mechanism and the wing plate telescopic driving mechanism and controls the actions of the horizontal tail wing unit and the batwing unit;
The inner layer plate telescopic driving mechanism comprises an inner layer plate telescopic driving motor, and the inner layer plate telescopic driving motor is connected with the inner layer plate through a first bevel gear transmission mechanism and a first gear rack transmission mechanism and drives the inner layer plate to realize telescopic movement from the outer layer plate;
The horizontal tail telescopic driving mechanism comprises a horizontal tail telescopic driving motor, and the horizontal tail telescopic driving motor is connected with the outer layer plate through a second bevel gear transmission mechanism and a second gear rack transmission mechanism and drives the horizontal tail formed by the outer layer plate and the inner layer plate to realize telescopic movement.
2. The batwing type posture adjustment device of the high-speed amphibious vehicle according to claim 1, wherein the wing plate telescopic driving mechanism is an electric hydraulic support rod, sliding grooves are respectively formed in the upper surfaces of the first humerus wing plate, the first side wing plate, the second humerus wing plate and the second side wing plate, the sliding grooves are perpendicular to the hinging shafts, the free ends of the corresponding electric hydraulic support rods are installed in the corresponding sliding grooves, and the fixed ends of the electric hydraulic support rods are connected with the main vehicle body.
3. The batwing type attitude adjusting device for a high-speed amphibious vehicle according to claim 1, wherein guide rails are respectively installed between the first humerus plate and the outer laminate and between the second humerus plate and the outer laminate.
4. A control method of a batwing type attitude adjustment device of a high-speed amphibious vehicle according to claim 1, which is characterized by comprising a control method after the vehicle enters water, a control method under a high-speed sailing state, a control method in a low-speed process from high-speed steering, a control method for a reversing working condition in a sailing process on water and a control method before logging in; the control method after the vehicle enters water comprises the following steps: adjusting the first humerus plate and the second humerus plate to keep the first humerus plate and the second humerus plate flush with the bottom surface of the vehicle, adjusting the horizontal tail fin to extend out, and adjusting the first side wing plate and the second side wing plate to rotate downwards but not cross the bottom surface of the vehicle to complete the unfolding of the batwing type attitude adjusting device; the control method under the high-speed navigation state comprises the following steps: under the condition that the first humerus plate, the second humerus plate and the horizontal tail wing are unfolded, the first side wing plate and the second side wing plate are adjusted to pass through the bottom surface of the vehicle, and the adjustment degree of the longitudinal inclination angle of the vehicle is increased; the control method of the low-speed process in the steering from high speed comprises the following steps: in the gradual deceleration process of the vehicle, the first side wing plate and the second side wing plate are adjusted to gradually rotate upwards, and meanwhile, the extension degree of the horizontal tail wing is reduced; the control method of the reversing working condition in the water navigation process comprises the following steps: controlling the horizontal tail wing to be recycled into the car body, and adjusting the first humerus wing plate, the second humerus wing plate, the first edge wing plate and the second edge wing plate to shrink, so that the influence of the horizontal tail wing and the bat type wing plate on reversing water flow is eliminated; the control method before login comprises the following steps: the horizontal tail wing is controlled to be completely retracted into the vehicle body, and the first humerus wing plate, the second humerus wing plate, the first edge wing plate and the second edge wing plate are adjusted to be respectively retracted upwards in a rotating mode to the greatest extent, so that the influence on the landing and the land running of the vehicle is avoided.
5. The control method according to claim 4, characterized by comprising a humeral plate control method comprising the steps of: in the state that the horizontal tail wing is completely retracted, the controller controls the wing plate telescopic driving mechanism corresponding to the first wing plate or the second wing plate to act, so that the first wing plate or the second wing plate is pushed to rotate around the corresponding hinge shaft until the first wing plate or the second wing plate reaches a specified angle, and the controller controls the corresponding wing plate telescopic driving mechanism to stop acting.
6. The control method according to claim 4, comprising an edge flap control method comprising the steps of: the controller controls the wing plate telescopic driving mechanism corresponding to the first side wing plate or the second side wing plate to act and pushes the first side wing plate or the second side wing plate to rotate around the corresponding hinge shaft until the first side wing plate or the second side wing plate reaches a specified angle, and the controller controls the corresponding wing plate telescopic driving mechanism to stop acting.
7. The control method according to claim 4, comprising a tailplane control method comprising the steps of: when the horizontal tail wing is required to extend, under the condition that the first humerus plate and the second humerus plate are unfolded to be level with the bottom surface of the vehicle, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to extend out of the outer layer plate, and when the inner layer plate reaches the maximum stroke, the controller controls the inner layer plate telescopic driving mechanism to stop acting; then, the controller controls the horizontal tail telescopic driving mechanism to act to drive the horizontal tail to integrally extend out to the maximum stroke of the horizontal tail, and controls the horizontal tail telescopic driving mechanism to stop acting; when the horizontal tail is required to shrink, under the condition that the first humerus plate and the second humerus plate are unfolded to be level with the bottom surface of the vehicle, the controller controls the horizontal tail telescopic driving mechanism to act so as to drive the horizontal tail to shrink integrally until the outer layer plate is completely retracted, and controls the horizontal tail telescopic driving mechanism to stop acting; and then, the controller controls the inner layer plate telescopic driving mechanism to act so as to drive the inner layer plate to shrink into the outer layer plate, and controls the inner layer plate telescopic driving mechanism to stop acting.
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| US5765497A (en) * | 1996-10-31 | 1998-06-16 | United Defense Lp | Bow vane with integral suspension fairings |
| GB0311439D0 (en) * | 2003-05-19 | 2003-06-25 | Gibbs Tech Ltd | Amphibious vehicle |
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