CN113212714B - Horizontal fin lateral popup stability augmentation device of rotary AUV (autonomous Underwater vehicle) - Google Patents
Horizontal fin lateral popup stability augmentation device of rotary AUV (autonomous Underwater vehicle) Download PDFInfo
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- CN113212714B CN113212714B CN202110661643.0A CN202110661643A CN113212714B CN 113212714 B CN113212714 B CN 113212714B CN 202110661643 A CN202110661643 A CN 202110661643A CN 113212714 B CN113212714 B CN 113212714B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
Abstract
The invention relates to a rotor type AUV horizontal fin lateral ejection stability augmentation device, belonging to the fields of hydrodynamics, underwater vehicle maneuverability and stability; the movable fin mechanisms which are laterally popped are symmetrically arranged on the horizontal fins at two sides; the movable fin plate mechanism which is laterally popped comprises a movable fin plate and a fin popping and withdrawing mechanism, the middle part of the movable fin plate is arranged on the end surface of the horizontal fin plate through the fin popping and withdrawing mechanism, and the fin popping and withdrawing mechanism can control the movable fin plate to do reciprocating motion along a straight line vertical to the AUV axial direction, so that the movable fin plate pops or withdraws outwards relative to the horizontal fin plate; the fin ejecting and retracting mechanism is positioned in the middle of the horizontal fin; the mechanism has compact structure, does not influence the overall appearance layout of the aircraft, and can be used for a rotary AUV control system.
Description
Technical Field
The invention belongs to the fields of hydrodynamics, maneuverability of an underwater vehicle and stability, and particularly relates to a rotor type AUV horizontal fin lateral 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.
The maneuverability of an AUV refers to the ability to change or maintain the state of motion, namely stability, and the ability to change the state of motion, namely maneuverability.
Due to the occurrence of the requirements of environment detection, information collection and accurate operation tasks, the rotary body AUV inevitably needs to carry out various micro-speed or even zero-speed operation movements underwater, and a higher requirement is provided for the underwater navigation stability of the AUV. For example: when the underwater vehicle carries out underwater recovery work, the AUV is required to have micro-speed navigation stability, so that the AUV keeps a good posture in the low-speed docking process to complete the docking task. The conventional cruciform fin rudder system has difficulty in keeping the stability of the navigation 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 property control scheme which cannot 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 AUV 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 AUV horizontal fin lateral ejection stability augmentation device, wherein a movable fin plate mechanism which is ejected laterally is arranged on a fixed cross-shaped fin rudder mechanism, and the fixed cross-shaped fin rudder mechanism and the movable fin plate mechanism form the rotary AUV horizontal fin lateral ejection stability augmentation device. 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 swivel type AUV horizontal fin lateral popup stability augmentation device comprises an AUV cross-shaped fin rudder; the method is characterized in that: the movable fin plate mechanisms which are laterally popped are arranged on the horizontal fins of the AUV cross-shaped fin rudder, and the movable fin plate mechanisms which are laterally popped are symmetrically arranged on the horizontal fins on two sides;
the movable fin plate mechanism which is laterally popped comprises a movable fin plate and a fin popping and retracting mechanism, the middle part of the movable fin plate is arranged on the end surface of the horizontal fin plate through the fin popping and retracting mechanism, and the fin popping and retracting mechanism can control the movable fin plate to do reciprocating motion along a straight line vertical to the AUV axial direction, so that the movable fin plate pops or retracts outwards relative to the horizontal fin plate; the fin ejecting and retracting mechanism is positioned in the middle of the horizontal fin;
the structure of the right horizontal pop-up movable fin mechanism is completely the same as that of the left horizontal pop-up movable fin mechanism, and the structures are not repeated.
The further technical scheme of the invention is as follows: the fin ejecting and withdrawing mechanism comprises a hydraulic push rod, a single-pin shaft, a hydraulic cylinder, a hydraulic pump and a single-pin shaft slideway arranged on the upper end surface of the horizontal fin plate, the single-pin shaft is fixed on the inner side of the middle part of the lower end surface of the movable fin plate, and the single-pin shaft slideway is arranged at the corresponding position of the single-pin shaft and is vertical to the axial direction of the AUV; the hydraulic pump drives the hydraulic push rod to do telescopic motion along the axial direction of the hydraulic push rod, and the axial direction of the hydraulic push rod is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end head of the hydraulic push rod is fixed with the inner side of the middle part of the movable fin plate, the hydraulic cylinder drives the hydraulic pump and the hydraulic push rod in sequence, and the movable fin plate is driven to reciprocate along a straight line by the axial extension/contraction of the hydraulic push rod, so that the recovery/ejection function of the movable fin plate is realized; meanwhile, the single pin shaft on the movable fin plate does linear reciprocating motion along the single pin shaft slide way, so that the offset of the movable fin plate can be limited.
The further technical scheme of the invention is as follows: the fin ejecting and withdrawing mechanism further comprises double pin shafts and parallel slideways, wherein the double pin shafts are arranged at the outer edges of the upper end surfaces of the horizontal fins and are symmetrically arranged relative to the single pin shaft slideways; the parallel slide ways are two long holes formed in the movable fin plate, and the two long holes are symmetrical relative to the single-pin shaft slide way and are arranged opposite to the double pin shafts to serve as the motion tracks of the double pin shafts;
the movable fin plate is driven to do linear reciprocating motion along the direction vertical to the axial direction of the AUV by the axial extension/contraction of the hydraulic push rod, and the parallel slide ways on the movable fin plate do linear motion and are restrained and limited by the double pin shafts to generate deviation.
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 characterized in that a cover plate is arranged on the upper surface of the movable fin plate, the appearance of the cover plate is consistent with that of the horizontal fin plate, and the movable fin plate can be shielded between the cover plate and the horizontal fin plate.
The further technical scheme of the invention is as follows: the appearance of the movable fin plate is the geometric reduction of the horizontal fin plate.
The further technical scheme of the invention is as follows: after the movable fins of the left horizontal ejecting movable fin mechanism and the right horizontal ejecting movable fin mechanism are unfolded, the area of the horizontal fin is increased by 87%, and the unfolding length of the horizontal fin is increased by 74%.
Advantageous effects
The invention has the beneficial effects that: the invention discloses a rotator type AUV horizontal fin lateral ejection stability augmentation device. The device consists of a fixed cross fin rudder mechanism and a lateral fin plate ejecting and moving mechanism. The invention provides a rotary AUV horizontal fin lateral ejection stability augmentation device which is formed by matching a movable fin mechanism ejected horizontally in a lateral direction on the basis of a cross rudder. The mechanism is compact in structure, does not affect the overall appearance layout of the aircraft, and can be used for a rotary AUV control system.
The total extended length of the contralateral fin when not extended is 120% of the diameter of the gyrator-type AUV. Through experimental research, under the condition of low-speed sailing below 3kn, when the area of the fin is increased by 80% on the basis, and the length of the fin is increased by 75% on the basis, the maneuverability of the swivel-type AUV is improved by more than 70%, the area of the control fin can be increased by nearly 87% compared with the control fin which is not popped, the expansion length of the fin is increased by 74% compared with the control fin which is not popped, and the integrity of the fin is higher before and after the fin is deformed. The mechanism enables the shape of the popped fin to be similar to the shape of the un-popped fin, so that the stress of the fin is not changed greatly. This patent has increased the area of being stained with of stabilizing the fin after horizontal fin pops out. According to theoretical formula analysis, as the hydrodynamic force and the control force received by the aircraft are reduced in a certain proportion when the aircraft enters a micro-speed state, 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. Therefore, the stability of the gyrator-type AUV can be greatly improved.
In addition, the mechanism has the advantages that the movable fin plate is pushed out transversely, and compared with the movable fin plate which is opened in a turning mode, the movable fin plate is opened in a turning mode. Although the area and the length of the deformed fin plate can be increased by turning and opening the movable fin plate more than by directly pushing, the fin plate is arranged at the tail of the revolving body AUV, and the turning and opening of the fin plate in any direction can enable the revolving body AUV to generate pitching moment, so that the work of the revolving body AUV is influenced. Therefore, the mode of transversely pushing out the movable fin can increase the area and the length of the fin under the condition of not influencing the attitude of the rotator AUV, and has great advantages compared with the mode of turning over and opening.
The invention can allow the rotary type AUV to rapidly enter a working state and laterally eject the movable fin plate when the operation stability is required to be improved, and the stability of the AUV is improved, and the AUV can better adapt to the requirements of various operating conditions on the operability and the stability of various degrees.
1. The driving device is a hydraulic ejection mechanism and comprises a hydraulic rod, a single pin shaft, a hydraulic cylinder and a hydraulic pump.
2. The single-pin shaft on the movable fin plate is driven to do linear motion along the single-pin shaft slideway by the axial extension/contraction of the hydraulic push rod, so that the linear motion of the movable fin plate is realized, and the positioning and locking of the movable fin plate can be realized by matching double pin shafts with the parallel slideway. 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 is not increased while the device is added.
Drawings
FIG. 1 is a schematic perspective view of an AUV and a horizontal fin lateral ejection stability enhancement device;
FIG. 2 is a schematic diagram of an internal structure of a horizontal fin lateral ejection stability enhancement device;
FIG. 3 is a schematic structural view of a horizontal fin side-ejection stabilizing device fixing fin plate;
FIG. 4 is a schematic view of a movable fin plate of the horizontal fin lateral pop-up stabilizer;
FIG. 5 is a schematic structural view of a cover plate of the horizontal fin lateral ejection stability enhancement device;
FIG. 6 is a schematic closing view of a movable fin plate of the horizontal fin lateral ejection stability enhancement device;
FIG. 7 is a schematic view of the horizontal fin being laterally ejected to open the movable fin plate of the augmentation stabilizing device;
FIG. 8 is a schematic diagram of the horizontal fin laterally ejected from the augmentation instrument in an un-ejected state;
FIG. 9 is a diagram illustrating a pop-up state of the horizontal fin lateral pop-up stability enhancement device;
description of the reference numerals: 1-gyrorotor AUV; 2, laterally ejecting a stability augmentation device from the horizontal fin; 3-fixing the fin plate; 4-a movable fin; 5-hydraulic push rod; 6-cover plate; 7-a screw; 8-hydraulic push rod mounting holes; 9-double pin shafts; 10-screw holes; 11-parallel slides; 12-single pin shaft; 13-single pin roll slide.
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 lateral popup stability augmentation device for an AUV horizontal fin, which comprises an AUV cross fin rudder and laterally popped movable fin mechanisms arranged on the horizontal fin of the AUV cross fin rudder, wherein the left and right laterally popped movable fin mechanisms are symmetrically arranged on the horizontal fins at two sides;
the movable fin plate mechanism which is laterally popped comprises a movable fin plate and a fin popping and retracting mechanism, the middle part of the movable fin plate is arranged on the end surface of the horizontal fin plate through the fin popping and retracting mechanism, and the fin popping and retracting mechanism can control the movable fin plate to do reciprocating motion along a straight line vertical to the AUV axial direction, so that the movable fin plate pops or retracts outwards relative to the horizontal fin plate; the fin ejecting and retracting mechanism is positioned in the middle of the horizontal fin; 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 structural principle of the invention is as follows:
referring to fig. 1 to 9, the rotary AUV horizontal fin lateral pop-up stability enhancement device of the present embodiment is composed of a rotary AUV 1, a horizontal fin lateral pop-up stability enhancement device 2, a fixed fin 3, a movable fin 4, a hydraulic push rod 5, a cover plate 6, and a screw 7. A hydraulic push rod mounting hole 8 is formed above the fixed fin plate 3, and a double pin shaft 9 and a screw hole 10 are machined on the fixed fin plate 3; the movable fin plate 4 is provided with a parallel slideway 11 and a single pin shaft 12; a single-pin shaft slideway 13 is processed on the cover plate 6. The revolving body AUV 1 is fixedly connected with the fixed fin plate 3, and the fixed fin plate 3 is in sliding connection with the movable fin plate 4 through a double-pin shaft 9 and a parallel slideway 11, so that the movable fin plate 4 can move along the direction of the parallel slideway 11; the movable fin plate 4 is hinged with the hydraulic push rod 5 through a single pin shaft 12, so that the hydraulic push rod 5 controls the movement of the movable fin plate 4; the hydraulic push rod 5 is fixedly connected with the revolved body AUV 1, and the fixed fin plate 3 is fixedly connected with the cover plate 6 through screws.
As shown in fig. 1, the AUV and the schematic perspective view of the horizontal fin lateral ejection stability enhancement device are shown in fig. 1, the AUV modifies the horizontal rudder on the basis of the cross fin rudder, and a closed position groove of the movable fin 4 is designed on the horizontal fin, so that the movable fin 4 does not affect the original horizontal fin shape when closed. As shown in fig. 2, the internal structure schematic diagram of the horizontal fin lateral pop-up stability augmentation device is that a double-pin shaft 9 is designed on the fixed fin 3, when the movable fin 4 works, the hydraulic push rod 5 extends to drive the movable fin 4 to move through the single-pin shaft 12, and the movable fin 4 is provided with a parallel slideway 11 which is matched with the double-pin shaft 9 to pop the movable fin 4 laterally to reach an appointed working position. The mechanism ensures that the movable cross fin mechanism is flexible and stable, the reaction is rapid, the stability of the AUV is improved, and meanwhile, the AUV can better adapt to the requirements of various operating conditions on the maneuverability and the stability of various degrees.
The embodiments of the present invention are as follows:
as shown in fig. 6, when the working state does not have a high stability requirement on the revolving body AUV 1, the movable fin mechanism 4 is located in the position groove of the horizontal fin of the fixed fin 3, and the position of the movable fin 4 is ensured to be fixed by the hydraulic push rod 5, the double pin shaft 9, the parallel slideway 11, and the single pin shaft 12.
When the revolving body AUV 1 is in a working state with a high stability requirement, as shown in fig. 7, as a schematic diagram of opening a movable fin of a horizontal fin lateral ejection stability enhancement device, a hydraulic push rod 5 starts to extend, and pulls a single pin shaft 12 hinged to the hydraulic push rod to drive the movable fin 4 to start moving, a parallel slideway 11 on the movable fin 4 cooperates with a double pin shaft 9 on a fixed fin class 3 to limit the movable fin 4 to eject in the horizontal direction, and when the double pin shaft 9 reaches an extreme position of the parallel slideway 11, the movable fin 4 enters the ejected working state and is locked at the working position under the limitation of the hydraulic push rod 5, the double pin shaft 9, the parallel slideway 11 and the single pin shaft 12.
Due to the popping of the movable fin 4, the area of the fin is increased by nearly 87% compared with the area when the fin is not popped, the spreading length of the fin is increased by 74% compared with the area when the fin is not popped, the shape and the integrity of the fin before and after deformation are maintained, the horizontal fin lateral popping stabilization device is more stable in structure and higher in strength, the stability of AUV operation is greatly improved, and the AUV can meet the working condition of high operation stability.
The invention relates to a lateral ejection horizontal fin lateral ejection stability-increasing device of a rotary AUV (autonomous underwater vehicle) operating system, which can perform stable operation movement 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, and the movable fin is popped out to the side direction, when improving AUV's stability, makes the better various different operating modes of adaptation of AUV to the requirement of 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 (6)
1. A swivel type AUV horizontal fin lateral popup stability augmentation device comprises an AUV cross-shaped fin rudder; the method is characterized in that: the movable fin plate mechanisms which are laterally popped are arranged on the horizontal fins of the AUV cross-shaped fin rudder, and the movable fin plate mechanisms which are laterally popped are symmetrically arranged on the horizontal fins on two sides;
the movable fin plate mechanism which is laterally popped comprises a movable fin plate and a fin popping and retracting mechanism, the middle part of the movable fin plate is arranged on the end surface of the horizontal fin plate through the fin popping and retracting mechanism, and the fin popping and retracting mechanism can control the movable fin plate to do reciprocating motion along a straight line vertical to the AUV axial direction, so that the movable fin plate pops or retracts outwards relative to the horizontal fin plate; the fin ejecting and retracting mechanism is positioned in the middle of the horizontal fin;
the right horizontal fin ejecting mechanism and the left horizontal fin ejecting mechanism have the same structure;
the fin ejecting and withdrawing mechanism comprises a hydraulic push rod, a single-pin shaft, a hydraulic cylinder, a hydraulic pump and a single-pin shaft slideway arranged on the upper end surface of the horizontal fin plate, the single-pin shaft is fixed on the inner side of the middle part of the lower end surface of the movable fin plate, and the single-pin shaft slideway is arranged at the corresponding position of the single-pin shaft and is vertical to the axial direction of the AUV; the hydraulic pump drives the hydraulic push rod to do telescopic motion along the axial direction of the hydraulic push rod, and the axial direction of the hydraulic push rod is perpendicular to the axial direction of the AUV and parallel to the end surface of the horizontal fin; the outer end head of the hydraulic push rod is fixed with the inner side of the middle part of the movable fin plate, the hydraulic cylinder drives the hydraulic pump and the hydraulic push rod in sequence, and the movable fin plate is driven to reciprocate along a straight line by the axial extension/contraction of the hydraulic push rod, so that the recovery/ejection function of the movable fin plate is realized; meanwhile, the single pin shaft on the movable fin plate makes linear reciprocating motion along the single pin shaft slideway, so that the offset of the movable fin plate can be limited.
2. The swivel-type AUV horizontal fin lateral ejection stability augmentation device of claim 1, wherein: the fin ejecting and withdrawing mechanism further comprises double pin shafts and parallel slideways, wherein the double pin shafts are arranged at the outer edges of the upper end surfaces of the horizontal fins and are symmetrically arranged relative to the single pin shaft slideways; the parallel slide ways are two long holes formed in the movable fin plate, and the two long holes are symmetrical relative to the single-pin shaft slide way and are arranged opposite to the double pin shafts to serve as the motion tracks of the double pin shafts;
the movable fin plate is driven to do linear reciprocating motion along the direction vertical to the axial direction of the AUV by the axial extension/contraction of the hydraulic push rod, and the parallel slide ways on the movable fin plate do linear motion and are restrained and limited by the double pin shafts to generate deviation.
3. The swivel-type AUV horizontal fin lateral 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 lateral ejection stability augmentation device of claim 1, wherein: the movable fin plate is characterized in that a cover plate is arranged on the upper surface of the movable fin plate, the appearance of the cover plate is consistent with that of the horizontal fin plate, and the movable fin plate can be shielded between the cover plate and the horizontal fin plate.
5. The swivel-type AUV horizontal fin lateral ejection stability augmentation device of claim 1, wherein: the appearance of the movable fin plate is the geometric reduction of the horizontal fin plate.
6. The swivel-type AUV horizontal fin lateral ejection stability augmentation device of claim 1, wherein: after the movable fins of the left horizontal ejecting movable fin mechanism and the right horizontal ejecting movable fin mechanism are unfolded, the area of the horizontal fin is increased by 87%, and the unfolding length of the horizontal fin is increased by 74%.
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| CN113212714A (en) | 2021-08-06 |
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