CN113212680B - Rotary AUV horizontal fin forward ejection stability augmentation device - Google Patents
Rotary AUV horizontal fin forward ejection stability augmentation device Download PDFInfo
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- CN113212680B CN113212680B CN202110661642.6A CN202110661642A CN113212680B CN 113212680 B CN113212680 B CN 113212680B CN 202110661642 A CN202110661642 A CN 202110661642A CN 113212680 B CN113212680 B CN 113212680B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
- B63B39/062—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water the foils being mounted on outriggers or the like, e.g. antidrift hydrofoils for sail boats
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention relates to a rotor type AUV horizontal fin forward ejection stability augmentation device, belonging to the fields of hydrodynamics, underwater vehicle maneuverability and stability; the horizontal fin popping mechanism comprises an AUV cross fin rudder and horizontal fin popping movable fin mechanisms arranged on horizontal fins of the AUV cross fin rudder, wherein the left and right horizontal fin popping movable fin mechanisms are symmetrically arranged on the horizontal fins on two sides; the left horizontal fin ejecting mechanism comprises a movable fin and a hydraulic ejecting mechanism, the front end of the movable fin is mounted on the end face of the horizontal fin through the hydraulic ejecting mechanism, and the movable fin can be controlled to rotate through the hydraulic ejecting mechanism, so that the movable fin is ejected outwards or retracted relative to the horizontal fin; the hydraulic ejection mechanism is positioned at the front end of the horizontal fin. The speed reduction effect can be rapidly realized by popping up the stability augmentation device, and the speed reduction effect is increased by 30%; meanwhile, the area of the fin is increased by 70%, and the stretching length of the fin is increased by 460%. The invention increases the wetting area of the stabilizing fin after the horizontal fin is popped up.
Description
Technical Field
The invention belongs to the fields of hydrodynamics, maneuverability of underwater vehicles and stability, and particularly relates to a rotary AUV horizontal fin forward ejection stability augmentation device.
Background
With the rapid development of human society, the demand for resources such as energy and food is greatly increased, while the land resources are consumed by human for a large part, and the ocean covering four fifths of the earth surface contains abundant resources, and the ocean is the largest natural geographic unit on the earth surface, so the twenty-first century is the ocean century, and the ocean becomes the main competitive field of international development, which includes new economic competition guided by high and new technologies. How to explore and exploit ocean resources is one of the most popular problems in this century. The unmanned underwater vehicle which has strategic significance in economy, politics and military is used as a main tool for marine transportation, has the characteristics of small volume, easiness in operation and control, high economy and the like, becomes a hotspot of ocean engineering technology, and the design research and development value of the unmanned underwater vehicle gradually rises.
Autonomous Underwater Vehicles (AUV). AUV is not paid attention from all countries because of its wide application prospect in military and civil fields. The AUV is used as an underwater highly integrated system, needs to autonomously navigate to a specified position and autonomously complete various underwater operations, such as fixed-point hovering or fixed-area hovering, whirling operation, vertical floating, submerging and the like, has high requirements on the stability of the AUV during autonomous navigation, but has considerable maneuvering performance during underwater operations, and the underwater environment is complex, but the influence of ocean environments such as ocean currents, waves and the like on maneuverability is not negligible, and the nonlinearity and the coupling of a dynamic model of the AUV, so that the AUV is required to have good maneuverability.
AUV maneuverability refers to the ability to change or maintain the attitude, depth and heading of motion via a steering mechanism or other power mechanism. Maneuverability includes two aspects: one is the ability to maintain motion, i.e., stability; another is the ability to change the state of motion, i.e., mobility. With the gradual maturity and perfection of ship maneuverability theory, the maneuverability of submarines, AUVs and other submersibles draws wide attention. Meanwhile, due to the occurrence of the requirements of environment detection, information collection and accurate control tasks, higher requirements are provided for the underwater navigation stability of the AUV. For example: when the underwater vehicle carries out underwater recovery or submarine work, the AUV is required to have micro-speed navigation stability. The stability of the existing aircraft is difficult to ensure that the aircraft works and moves at a micro speed or even a zero speed, and the traditional cruciform fin rudder system is difficult to keep the navigation stability of the AUV in the working state.
In the prior art, application number CN2019106949094 is a method for reducing the rolling and pitching of an AUV by using a self-provided horizontal rudder, which is used for carrying out detailed analysis on the stress and motion conditions of the horizontal rudder when the AUV is subjected to wave interference to generate rolling and pitching motion, determining the motion mode of the horizontal rudder in the rolling and pitching periods according to the stress analysis of the horizontal rudder under the interference, and controlling the rolling and pitching of the AUV based on a lift model of the horizontal rudder and the stabilizing moment under the rolling and pitching motion. The technical scheme improves the anti-interference capability of the AUV from the angle of a control model. However, this solution cannot cope with the problem of stability of the low-speed vessel in a complicated marine situation. Firstly, when the aircraft is in a low-speed state, the fluid stress condition of the aircraft will obviously change, and the control force and the control torque cannot meet the requirement of stable control. Secondly, the marine environment under natural conditions is more complex, and the stress situation has obvious time-varying control scheme which can not cope with the complex marine environment. Finally, the technical scheme is influenced by a mechanical structure, so that the stability augmentation capability of the aircraft is limited, and the requirement of high stability under extreme conditions cannot be met.
The technical scheme solves the problems of direct flight resistance and dynamic instability through the deformed main wing plate and auxiliary wing plate, and fuses the modes of large-range gliding and high-speed direct flight of the underwater vehicle. However, this technical solution cannot be applied to the conventional revolved body AUV because the inner space and the outer shape of the main and flap need to be additionally installed are largely changed. Secondly, the gliding and high-speed direct sailing dual-mode sailing can not be matched with the prior revolving body AUV which mostly depends on power systems such as propellers and the like, and the applicability of the gliding and high-speed direct sailing dual-mode sailing is greatly limited. Meanwhile, the technical scheme provides a relevant solution for high-speed direct navigation instability, and the problem of AUV low-speed navigation instability under the low-speed or micro-speed condition of less than 3kn cannot be effectively solved.
There is therefore a need for a new fin-rudder arrangement with a compact structure that does not affect the overall profile of the aircraft. The stability of the rotary AUV is improved, and the UV can better adapt to the requirements of various working conditions such as low navigational speed and the like on maneuverability and stability.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a rotary body type AUV horizontal fin forward ejection stability enhancement device which is formed by matching a cross rudder with a horizontal ejection triangular movable fin plate and is based on a rotary body type AUV control system. Under the condition that the rotary type AUV is at a low navigational speed of below 3kn, the traditional cross fin rudder system is difficult to keep the stable navigation of the AUV, and the rotary type AUV can be stably manipulated and moved under the low navigational speed condition acted by a dynamic positioning system.
The technical scheme of the invention is as follows: a rotary AUV horizontal fin forward popup stability augmentation device comprises an AUV cross fin rudder; the method is characterized in that: the left horizontal fin popping mechanism and the right horizontal fin popping mechanism are symmetrically arranged on the horizontal fins on the two sides;
the left horizontal fin ejecting mechanism comprises a movable fin and a hydraulic ejecting mechanism, the front end of the movable fin is mounted on the end surface of the horizontal fin through the hydraulic ejecting mechanism, and the movable fin can be controlled to rotate through the hydraulic ejecting mechanism, so that the movable fin is ejected outwards or retracted relative to the horizontal fin; the hydraulic ejection mechanism is positioned at the front end of the horizontal fin, namely close to one end of the AUV main body;
the right horizontal ejecting movable fin mechanism and the left horizontal ejecting movable fin mechanism have the same structure and are not described repeatedly.
The further technical scheme of the invention is as follows: the hydraulic ejection mechanism comprises a hydraulic rod, a rotating shaft, a hydraulic cylinder and a hydraulic pump, and the front end of the movable fin plate is hinged with the front end of the horizontal fin plate through the rotating shaft and can rotate relatively; the hydraulic pump drives the hydraulic rod to do telescopic motion along the axial direction of the hydraulic rod, and the axial direction of the hydraulic rod is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end of the hydraulic rod is fixed with the front end of the movable fin plate close to the outer edge, the hydraulic cylinder drives the hydraulic pump and the hydraulic rod in sequence, the movable fin plate is driven to rotate around the rotating shaft by the axial retraction of the hydraulic rod, the recovery function of the movable fin plate is realized, the movable fin plate is driven to rotate around the rotating shaft by the axial extension of the hydraulic rod, and the popping and unfolding functions of the movable fin plate are realized; meanwhile, the locking of the movable fin plate can be realized through the telescopic fixed distance function of the hydraulic rod.
The further technical scheme of the invention is as follows: the rotating shaft penetrates through the rotating hole in the movable fin plate and is vertically arranged on the end surface of the horizontal fin; the hydraulic rod is fixed with the movable fin plate through a bolt, and the bolt penetrates through a movable fin plate fixing hole in the movable fin plate; the axes of the rotary hole and the movable fin fixing hole are located in the same plane, the plane is parallel to the axial direction of the AUV when the movable fin is in a recovery state, and the plane is perpendicular to the axial direction of the AUV when the movable fin is in an expansion state.
The further technical scheme of the invention is as follows: the movable fin plate is of a flat plate structure, a notch is formed in the position, close to the outer edge, of the upper end face of the horizontal fin, the notch and the movable fin plate are arranged correspondingly, and the notch can be filled up after the movable fin plate is recycled to form the complete horizontal fin.
The further technical scheme of the invention is as follows: the movable fin plate is an equal-ratio reduction structure of the horizontal fin plate.
The further technical scheme of the invention is as follows: after the movable fins of the left horizontal pop-up movable fin mechanism and the right horizontal pop-up movable fin mechanism are unfolded, the area of the horizontal fin is increased by 70%, and the unfolding length of the horizontal fin is increased by 460%.
Advantageous effects
The invention has the beneficial effects that: the invention discloses a rotary AUV horizontal fin forward-popping stability-increasing device which is formed by matching with a horizontal popping movable fin plate on the basis of a cross rudder. The mechanism has compact structure and does not influence the overall appearance layout of the aircraft. The device can be used for a rotary body type AUV control system, two movable fins of a movable fin mechanism are horizontally popped out towards the direction of the head of the rotary body AUV on a horizontal fin of a cross fin rudder, when the rotary body AUV needs to be kept on a horizontal plane for stable detection, the speed reduction effect can be quickly realized by popping up a stability augmentation device, and the speed reduction effect is increased by 30%; meanwhile, the area of the fin is increased by 70%, and the stretching length of the fin is increased by 460%. The invention increases the wetting area of the stabilizing fin after the horizontal fin is popped up.
According to theoretical formula analysis, as the aircraft enters a micro-speed state below 3kn, the hydrodynamic force and the control force received by the aircraft are reduced in a certain proportion, the stability of the aircraft is insufficient, and instability is easy to occur. Through K-T analysis, the transverse rolling maneuverability and the longitudinal plane maneuverability are contrastively analyzed, and the improvement of different degrees is obtained.
The invention can allow the rotary body type AUV to rapidly enter a working state when the operation stability needs to be improved, rapidly pop out the triangular movable fin plate towards the head direction of the rotary body AUV, and rapidly enter the working state through the deceleration effect, thereby improving the stability of the AUV and enabling the AUV to better adapt to the requirements of various operating conditions on the operability and the stability of various degrees.
The further technical scheme of the invention is as follows: the hydraulic ejection mechanism comprises a hydraulic rod, a rotating shaft, a hydraulic cylinder and a hydraulic pump, and the front end of the movable fin plate is hinged with the front end of the horizontal fin plate through the rotating shaft and can rotate relatively; the hydraulic pump drives the hydraulic rod to do telescopic motion along the axial direction of the hydraulic rod, and the axial direction of the hydraulic rod is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end of the hydraulic rod is fixed with the front end of the movable fin plate close to the outer edge, the hydraulic cylinder drives the hydraulic pump and the hydraulic rod in sequence, the movable fin plate is driven to rotate around the rotating shaft by the axial retraction of the hydraulic rod, the recovery function of the movable fin plate is realized, the movable fin plate is driven to rotate around the rotating shaft by the axial extension of the hydraulic rod, and the popping and unfolding functions of the movable fin plate are realized; meanwhile, the locking of the movable fin plate can be realized through the telescopic fixed distance function of the hydraulic rod.
1. The driving device of the invention is a hydraulic ejection mechanism, which comprises a hydraulic rod, a rotating shaft, a hydraulic cylinder and a hydraulic pump.
2. The axes of the rotary hole and the movable fin fixing hole are limited in the same plane, and the plane is parallel to the axial direction of the AUV when the movable fin is in a recovery state and is perpendicular to the axial direction of the AUV when the movable fin is in an expansion state; accurate position control can be realized through simple connection structure, and influence on stability due to deflection angle errors can be avoided.
3. The movable fin plate is arranged at the notch of the upper end surface of the horizontal fin, the notch can be filled after the movable fin plate is recovered to form a complete horizontal fin, the original state of the horizontal fin is kept when the horizontal fin plate does not need to be popped out and unfolded in normal operation, and the original stability and control force of the horizontal fin plate are not influenced; and meanwhile, the extra load of the AUV cannot be increased while devices are added.
4. The movable fin plate is an equal-ratio reducing structure of the horizontal fin plate, and the spanwise length and the wetting area of the horizontal fin plate after being popped and unfolded are improved to the maximum extent.
Drawings
FIG. 1 is a schematic perspective view of an AUV and a horizontal fin forward ejection stabilization device;
FIG. 2 is a cross-sectional view of a horizontal fin forward ejection stabilization device;
FIG. 3 is a schematic sectional view of a fixed cross-shaped rudder;
FIG. 4 is a schematic view of a triangular horizontal pop-up movable fin device;
FIG. 5 is a schematic diagram of the horizontal fin forward-ejection stabilizing device in an un-ejected state;
FIG. 6 is a diagram illustrating the pop-up state of the horizontal fin forward pop-up stabilization device;
description of reference numerals: 1-gyrorotor AUV; 2-ejecting a stability augmentation device from the front of the horizontal fin; 3-fixing a cross fin-rudder mechanism; 4-a movable fin; 5-rotating the hole; 6-hydraulic rod fixing hole; 7-a hydraulic rod; 8-a limiting slideway; 9-movable fin plate fixing holes; 10-rotating shaft.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1 and 2, the invention discloses a rotary-body type AUV horizontal fin forward-popup stability augmentation device, which comprises an AUV cross-shaped fin rudder; the left horizontal fin popping mechanism and the right horizontal fin popping mechanism are symmetrically arranged on the horizontal fins on the two sides;
the left horizontal fin ejecting mechanism comprises a movable fin 4 and a hydraulic ejecting mechanism, the front end of the movable fin 4 is mounted on the end surface of the horizontal fin through the hydraulic ejecting mechanism, and the movable fin can be controlled to rotate through the hydraulic ejecting mechanism, so that the movable fin is ejected outwards or retracted relative to the horizontal fin; the hydraulic ejection mechanism is positioned at the front end of the horizontal fin, namely close to one end of the AUV main body; the right horizontal ejecting movable fin mechanism and the left horizontal ejecting movable fin mechanism have the same structure and are not described repeatedly. The movable fin plate is of a flat plate structure, a notch is formed in the upper end surface of the horizontal fin close to the outer edge and corresponds to the movable fin plate, the notch can be filled after the movable fin plate is recovered to form a complete horizontal fin, the original state of the horizontal fin is kept when the movable fin plate does not need to be popped out and unfolded in normal operation, and the original stability and control force of the horizontal fin plate are not influenced; and meanwhile, the extra load of the AUV is not increased while the device is added.
Referring to fig. 3, the hydraulic ejection mechanism comprises a hydraulic rod 7, a rotating shaft 10, a hydraulic cylinder and a hydraulic pump, wherein the front end of the movable fin 4 is hinged with the front end of the horizontal fin through the rotating shaft and can rotate relatively; the hydraulic pump drives the hydraulic rod 7 to do telescopic motion along the axial direction of the hydraulic rod, and the axial direction of the hydraulic rod 7 is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end of the hydraulic rod 7 is fixed with the front end of the movable fin plate 4 close to the outer edge, the hydraulic cylinder drives the hydraulic pump and the hydraulic rod 7 in sequence, the movable fin plate 4 is driven to rotate around the rotary shaft by the axial retraction of the hydraulic rod 7, the recovery function of the movable fin plate 4 is realized, the movable fin plate 4 is driven to rotate around the rotary shaft by the axial extension of the hydraulic rod 7, and the popping and unfolding functions of the movable fin plate 4 are realized; and meanwhile, the movable fin plate 4 can be locked by the telescopic fixed distance function of the hydraulic rod 7.
Referring to fig. 4, the rotating shaft passes through the rotating hole on the movable fin and is vertically arranged on the end surface of the horizontal fin; the hydraulic rod is fixed with the movable fin plate through a bolt, and the bolt penetrates through a movable fin plate fixing hole in the movable fin plate; the axes of the rotary hole and the movable fin fixing hole are located in the same plane, the plane is parallel to the axial direction of the AUV when the movable fin is in a recovery state, and the plane is perpendicular to the axial direction of the AUV when the movable fin is in an expansion state. Accurate position control can be realized through simple connection structure, and influence on stability due to deflection angle errors can be avoided.
After the movable fins of the left horizontal pop-up movable fin mechanism and the right horizontal pop-up movable fin mechanism are unfolded, the area of the horizontal fin is increased by 70%, and the unfolding length of the horizontal fin is increased by 460%.
The structural principle of the invention is as follows:
referring to fig. 1 to 6, the horizontal fin forward ejection stabilizing device of the present embodiment is composed of a revolving body AUV1, a horizontal fin forward ejection stabilizing device 2, and a fixed cross-shaped fin rudder mechanism 3. The flat fin forward-ejecting stability augmentation device 2 is composed of a triangular movable fin 4, a rotary hole 5, a hydraulic rod fixing hole 6, a hydraulic rod 7, a movable fin fixing hole 9 and a hydraulic pump. The triangular movable fin plate 4 is connected with the fixed cross-shaped fin steering mechanism 3 through a rotating shaft; the hydraulic rod 7 is connected with the triangular movable fin plate 4 through bolts.
As shown in fig. 1, the AUV and the schematic perspective view of the front pop-up stabilizing device of the horizontal fin, the AUV modifies the horizontal fin on the basis of the cross-shaped fin, and the triangular movable fin 4 is arranged on the horizontal fin at a closed position, so that the movable fin 4 does not affect the original appearance of the horizontal fin when closed. As shown in the structural cross-sectional view of the horizontal fin forward-ejection stability augmentation device in figure 2, a rotary hole 5 and a movable fin fixing hole 9 are designed on a horizontal fin, and a hydraulic rod 7 moves to drive the movable fin 4 to rotate along a limiting slide way 8, so that the triangular movable fin 4 is realized in a working processWhen the triangular movable fin plate is in the working state, the triangular movable fin plate is popped out towards the direction of the head of the rotary body AUV and rotates around the rotary shaft 10, after the triangular movable fin plate 4 is popped out to a specified position, the hydraulic rod 7 stops moving, and the movable fin plate 4FixingAt a designated working position. The fixed cross-shaped fin steering mechanism 3, the triangular movable fin 4, the hydraulic rod 7 and the limiting slide rail 8 are matched together, so that the movable cross-shaped fin mechanism is flexible and stable, the reaction is rapidly improved, and the AUV is enabled to better adapt to the requirements of various working conditions on the maneuverability and the stability of various degrees.
The embodiments of the present invention are as follows:
as shown in a schematic diagram of a non-ejected state of the horizontal fin forward-ejection stability augmentation device in fig. 5, when the working state is not required by high operation stability, the triangular movable fin 4 is located in a position groove for fixing the horizontal fin of the cross fin-rudder mechanism 3, and the triangular movable fin 4 is ensured to be fixed through the hydraulic rod 7, the limiting slide way 8 and other control mechanisms. When the revolving body AUV1 has a high stability requirement, as shown in the pop-up state diagram of the horizontal fin forward pop-up stability enhancement device in fig. 6, the hydraulic pump starts to work, drives the hydraulic rod 7 to move, pushes the triangular movable fin plate 4 to rotate along the limit slideway 8, and when the movable fin plate 4 rotates to a designated working position, the hydraulic pump stops working, and the hydraulic rod 7 stops moving. The horizontal fin forward-popping stability-increasing device 2 enters a popping working state, the area of the control fin is increased by 70% due to the popping of the triangular movable fin 4, the expansion length of the fin is increased by 460%, the fin popping process is powered by hydraulic pressure, the fluctuation is small, the stability of AUV control is improved by 50%, and the AUV can meet the working condition of high control stability.
As shown in the schematic structural diagram of the horizontal pop-up movable fin device in fig. 4, when the requirement on the AUV manipulation stability is low, after the AUV finishes the work with high manipulation stability requirement, the horizontal fin forward pop-up stabilizing device 2 retracts the triangular movable fin into the position groove of the fixed cross-shaped fin steering mechanism 3. The specific working process is as follows, the hydraulic pump starts to work, the hydraulic rod 7 drives the triangular movable fin plate 4 to retract, and when the movable fin plate mechanism 4 returns to the set position and contacts with the head end position of the limiting slide way 8, the hydraulic pump stops working to finish limiting the activity of the movable fin plate.
The invention relates to a horizontal fin forward ejection stability augmentation device of a rotary AUV control system, which can perform stable control motion on a rotary AUV under the condition that a dynamic positioning system acts at a certain navigational speed. The installation and the disassembly are simple, the structure is stable and reliable, and the use is convenient. This patent can allow solid of revolution AUV to get into operating condition rapidly when needing to improve the operating stability, pops out movable fin, when improving AUV's stability, makes the requirement of the various different operating modes of better adaptation of AUV to the maneuverability and the stability of various degrees.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (5)
1. A rotary AUV horizontal fin forward popup stability augmentation device comprises an AUV cross fin rudder; the method is characterized in that: the left horizontal fin popping mechanism and the right horizontal fin popping mechanism are symmetrically arranged on the horizontal fins on the two sides;
the left horizontal fin ejecting mechanism comprises a movable fin and a hydraulic ejecting mechanism, the front end of the movable fin is mounted on the end surface of the horizontal fin through the hydraulic ejecting mechanism, and the movable fin can be controlled to rotate through the hydraulic ejecting mechanism, so that the movable fin is ejected outwards or retracted relative to the horizontal fin; the hydraulic ejection mechanism is positioned at the front end of the horizontal fin, namely close to one end of the AUV main body;
the structure of the right horizontal fin ejecting mechanism is completely the same as that of the left horizontal fin ejecting mechanism;
the hydraulic ejection mechanism comprises a hydraulic rod, a rotating shaft, a hydraulic cylinder and a hydraulic pump, and the front end of the movable fin plate is hinged with the front end of the horizontal fin plate through the rotating shaft and can rotate relatively; the hydraulic pump drives the hydraulic rod to do telescopic motion along the axial direction of the hydraulic rod, and the axial direction of the hydraulic rod is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end of the hydraulic rod is fixed with the front end of the movable fin plate close to the outer edge, the hydraulic cylinder drives the hydraulic pump and the hydraulic rod in sequence, the movable fin plate is driven to rotate around the rotating shaft by the axial retraction of the hydraulic rod, the recovery function of the movable fin plate is realized, the movable fin plate is driven to rotate around the rotating shaft by the axial extension of the hydraulic rod, and the popping and unfolding functions of the movable fin plate are realized; meanwhile, the locking of the movable fin plate can be realized through the telescopic fixed distance function of the hydraulic rod.
2. The swivel-type AUV horizontal fin forward ejection stability augmentation device of claim 1, wherein: the rotating shaft penetrates through the rotating hole in the movable fin plate and is vertically arranged on the end surface of the horizontal fin; the hydraulic rod is fixed with the movable fin plate through a bolt, and the bolt penetrates through a movable fin plate fixing hole in the movable fin plate; the axes of the rotary hole and the movable fin fixing hole are located in the same plane, the plane is parallel to the axial direction of the AUV when the movable fin is in a recovery state, and the plane is perpendicular to the axial direction of the AUV when the movable fin is in an expansion state.
3. The swivel-type AUV horizontal fin forward ejection stability augmentation device of claim 1, wherein: the movable fin plate is of a flat plate structure, a notch is formed in the position, close to the outer edge, of the upper end face of the horizontal fin, the notch and the movable fin plate are arranged correspondingly, and the notch can be filled up after the movable fin plate is recycled to form the complete horizontal fin.
4. The swivel-type AUV horizontal fin forward ejection stability augmentation device of claim 1, wherein: the movable fin plate is an equal-ratio reduction structure of the horizontal fin plate.
5. The swivel-type AUV horizontal fin forward ejection stability augmentation device of claim 1, wherein: after the movable fins of the left horizontal pop-up movable fin mechanism and the right horizontal pop-up movable fin mechanism are unfolded, the area of the horizontal fin is increased by 70%, and the unfolding length of the horizontal fin is increased by 460%.
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| CN108639287A (en) * | 2018-05-24 | 2018-10-12 | 天津大学 | A kind of large-scale heavy duty combination drive underwater glider |
| CN110065609A (en) * | 2019-05-20 | 2019-07-30 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of deep sea manned submersible synchronous folding formula horizontal stabilizer |
| CN110371281A (en) * | 2019-06-27 | 2019-10-25 | 中国人民解放军海军工程大学 | A kind of foldable double-sides rudder and the submarine navigation device with the two-sided rudder |
| CN110641643A (en) * | 2019-11-08 | 2020-01-03 | 上海海事大学 | Stabilization system and stabilization method |
| CN111891321A (en) * | 2020-08-17 | 2020-11-06 | 西北工业大学 | Water surface/underwater dual-mode aircraft |
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