CN114162296B - Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof - Google Patents
Underwater vehicle propelling and control integrated device, underwater vehicle and navigation control method thereof Download PDFInfo
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- CN114162296B CN114162296B CN202111410976.2A CN202111410976A CN114162296B CN 114162296 B CN114162296 B CN 114162296B CN 202111410976 A CN202111410976 A CN 202111410976A CN 114162296 B CN114162296 B CN 114162296B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000000006 pectoral fin Anatomy 0.000 claims abstract description 286
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 161
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000014509 gene expression Effects 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 241001331491 Myliobatis californica Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001471424 Manta birostris Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The invention relates to a submarine vehicle propulsion and control integrated device, a submarine vehicle and a navigation control method thereof, wherein the submarine vehicle propulsion and control integrated device comprises a shell, a bionic pectoral fin and a driving assembly; a driving cabin is arranged in one axial end of the shell, and the other axial end of the shell is a pectoral fin connecting section; the root of the bionic pectoral fin is rotationally connected to the pectoral fin connecting section, the bionic pectoral fin can be twisted and deformed, the bionic pectoral fin is four, and the four bionic pectoral fins surround the periphery of the shell and are arranged in a cross shape; the driving assembly comprises a swinging driving piece used for driving the bionic pectoral fin to swing around the root part and a torsion driving piece used for driving the bionic pectoral fin to be in torsion deformation. The propulsion and control integrated device of the underwater vehicle has high propulsion efficiency, flexible control and silence and concealment.
Description
Technical Field
The invention belongs to the technical field of submergence vehicles, and particularly relates to a submergence vehicle propulsion and control integrated device, a submergence vehicle and a navigation control method thereof.
Background
The traditional underwater vehicle generally adopts a propeller as a propelling device and a rudder as a maneuvering control device, and the design scheme of the combined navigation of the propeller and the rudder system is iterated for many years, so that the performance index tends to be extreme and the optimization space is small. Moreover, the solution of cooperating propeller and rudder systems for sailing still presents some inherent drawbacks of the devices themselves, such as: the propulsion efficiency of the propeller is about 70 percent at most, and the propeller is only effective at a specific speed, and the efficiency of the propeller is greatly reduced when the propeller is higher or lower than the specific speed; the propeller rotates at high speed in uneven smoothness at the tail part of the underwater vehicle to generate vibration, and related structures and equipment such as a transmission shaft system, a bearing, a main machine and the like are excited to vibrate to form an underwater radiation noise source, so that the underwater vehicle loses concealment; the rudder system can generate rudder effect only at a certain incoming flow speed, and when the underwater vehicle sails at a low speed, the rudder effect is reduced, so that the underwater vehicle loses the maneuvering capability at the low speed stage.
Disclosure of Invention
Aiming at the defects of the conventional propelling device and maneuvering control device of the underwater vehicle, the invention provides a propelling and controlling integrated device of the underwater vehicle, the underwater vehicle and a navigation control method thereof.
The invention provides a propulsion and control integrated device of an underwater vehicle, which comprises:
the device comprises a shell, wherein a driving cabin is arranged in one axial end of the shell, and the other axial end of the shell is a pectoral fin connecting section;
the bionic pectoral fin is characterized in that the root part of the bionic pectoral fin is rotationally connected to the pectoral fin connecting section, the rotational axis of the root part of the bionic pectoral fin is arranged along the axial direction of the shell, the tip part of the bionic pectoral fin extends outwards, and the bionic pectoral fin can be deformed in a twisting manner; the bionic pectoral fins are four, the four bionic pectoral fins have the same structure, and the four bionic pectoral fins surround the periphery of the shell and are arranged in a cross shape;
the driving assembly comprises a swinging driving piece for driving the bionic pectoral fin to swing around the root and a torsion driving piece for driving the bionic pectoral fin to deform in a torsion mode; the swing driving pieces are positioned in the driving cabin, the number of the swing driving pieces is equal to that of the bionic pectoral fins, and the swing driving pieces are connected to the roots of the bionic pectoral fins in a one-to-one correspondence manner; the number of the torsion driving pieces is equal to that of the bionic pectoral fins, and the torsion driving pieces are installed on the bionic pectoral fins in a one-to-one correspondence mode.
The technical proposal can imitate the motion form of the pectoral fin of the manta ray marine life by four bionic pectoral fins and an auxiliary driving component, the underwater vehicle generates corresponding propelling force and maneuvering control force to drive the underwater vehicle to navigate and maneuver to turn, and has the great advantages of high propelling efficiency, maneuvering control flexibility, silence and concealment and the like.
In some embodiments, the periphery of the pectoral fin connecting section of the shell is provided with an annular groove, and the root of the bionic pectoral fin is rotatably connected in the annular groove.
In some of these embodiments, the biomimetic pectoral fin comprises:
the pectoral fin swing shaft is used as the root of the bionic pectoral fin, is rotatably connected with the pectoral fin connecting section and is connected with the swing driving piece;
the pectoral fin framework comprises a plurality of stages of ring frames which are sequentially arranged from the root to the tip in the spanwise direction, the stage number of the ring frames takes the root as the first stage, and the first stage ring frames are connected with the pectoral fin swing shaft;
the skin covers the pectoral fin framework;
the pectoral fin torsion shaft is used as an axis of the bionic pectoral fin torsion deformation and is sequentially connected with all levels of ring frames along the unfolding direction of the bionic pectoral fin;
the pectoral fin crankshaft is used for driving each level of ring frames to rotate around a pectoral fin torsion shaft, is connected with the torsion driving piece and is sequentially connected with each level of ring frames; the distance between the pectoral fin crankshaft and the pectoral fin torsion shaft is gradually increased from the root part to the tip part of the bionic pectoral fin, and the pectoral fin crankshaft bends towards the direction close to the trailing edge of the bionic pectoral fin.
Among this technical scheme, the swing motion of bionical pectoral fin can be controlled through the rotation of control pectoral fin oscillating axle, and the torsional deformation of bionical pectoral fin can be controlled through the rotation of control pectoral fin bent axle, is convenient for control, and moreover, its swing motion and torsional deformation mode are close with the bat ray, and propulsion efficiency is higher, attitude control is more steady.
In some of these embodiments, the connection of the pectoral fin crankshaft to the first stage ring frame and the connection of the pectoral fin torsion shaft to the first stage ring frame are close together, and the connection of the pectoral fin crankshaft to the last stage ring frame is near the trailing edge of the last stage ring frame. The pectoral fin crankshaft is arranged, so that the torsional deformation which can be generated by the fin surface of the bionic pectoral fin can be maximized, and the propulsion efficiency can be improved.
In some embodiments, the swing driving part is a swing driving motor, and an output shaft of the swing driving motor is connected to the pectoral fin swing shaft; the torsion driving piece is a torsion driving motor, the torsion driving motor is arranged on the pectoral fin framework, and an output shaft of the torsion driving motor is connected to the pectoral fin crankshaft.
In some of these embodiments, the first stage ring frame is attached to the pectoral fin swing shaft by a mounting bracket on which the torsional drive motor is mounted.
The invention also provides an underwater vehicle which comprises the underwater vehicle propelling and control integrated device in any technical scheme.
Besides, the invention also provides a navigation control method of the underwater vehicle, which adopts the integrated device for propelling and controlling the underwater vehicle to control the navigation of the underwater vehicle, wherein the bionic pectoral fin positioned above the navigation advancing direction of the underwater vehicle is taken as an upper pectoral fin, the bionic pectoral fin positioned below the navigation advancing direction is taken as a lower pectoral fin, the bionic pectoral fin positioned on the left side of the navigation advancing direction is taken as a left pectoral fin, and the bionic pectoral fin positioned on the right side of the navigation advancing direction is taken as a right pectoral fin; the control method under different sailing conditions comprises the following steps:
when the underwater vehicle navigates in a straight line, the swing angle and the torsional deformation of each bionic pectoral fin are controlled to generate an acting force for pushing water away from the navigation direction, and the rolling moments acted on the underwater vehicle by the four bionic pectoral fins are mutually counteracted;
when the underwater vehicle is in horizontal maneuvering navigation, the swing angle and the torsional deformation of each bionic pectoral fin are controlled to generate acting force for pushing water away from the navigation direction, and the upper pectoral fin and the lower pectoral fin are controlled to superpose offset angles during torsional motion to generate moment for enabling the underwater vehicle to horizontally rotate;
when the underwater vehicle is in vertical maneuvering navigation, the swing angle and the torsional deformation of each bionic pectoral fin are controlled to generate acting force for pushing water away from the navigation direction, and the left pectoral fin and the right pectoral fin are controlled to superpose offset angles during torsional movement to generate moment for pitching rotation of the underwater vehicle.
In some embodiments, the output angle of the swing driving motor is controlled to control the swing angle of the bionic pectoral fin to change according to the function rule of the relation (1); controlling the torsion angle of the last stage ring frame of the bionic pectoral fin to change according to the function rule of the relation (2) by controlling the output angle of the torsion driving motor, thereby controlling the tail end torsion angle of the bionic pectoral fin;
the expression of the relational expression (1) is as follows:
θ i (t)＝θ max sin(2πft+δ i ) (1)
in the formula (1), θ i (t) is the swing angle of the ith bionic pectoral fin at the time t, theta max The amplitude of the swing angle of the bionic pectoral fin, f is the swing frequency of the bionic pectoral fin, delta i The initial phase of the rocking angle of the ith bionic pectoral fin; taking the sailing forward direction as the positive direction of the bionic pectoral fin swing axis, and when the swing angle of the bionic pectoral fin and the positive direction of the swing axis accord with the right-hand rule, the swing angle is positive; for the upper pectoral fin and the lower pectoral fin, the zero position of the swing angle is formed when the symmetrical plane of the upper pectoral fin and the lower pectoral fin is in a vertical state; for the left pectoral fin and the right pectoral fin, the zero position of the swing angle is formed when the symmetry plane of the left pectoral fin and the right pectoral fin is in a horizontal state;
the expression of the relation (2) is as follows:
in the formula (2), phi i (t) is the torsion angle of the last stage ring frame of the ith bionic pectoral fin at the moment t, phi max The amplitude of the torsion angle of the last stage ring frame, f is the swing frequency of the bionic pectoral fin, sigma i Is the initial phase of the rotation angle of the last stage ring frame of the ith bionic pectoral fin,
the offset of the rotation angle of the last stage ring frame of the ith bionic pectoral fin; taking the outward direction of the stretching direction of each bionic pectoral fin as the positive direction of the torsion axis of the bionic pectoral fin, and when the torsion angle of the bionic pectoral fin and the positive direction of the torsion axis accord with the right-hand rule, the torsion angle is positive; the bionic pectoral fin is taken as a torsion angle when in a non-torsion stateZero position of degree;
in the formulas (1) and (2), i =1, 2, 3, 4, the upper pectoral fin number is 1, the left pectoral fin number is 2, the lower pectoral fin number is 3, and the right pectoral fin number is 4;
under different sailing conditions, delta in the relation (1) and the relation (2) is controlled according to the table 1 i 、σ i And
TABLE 1. Delta i 、σ i And
get value table
In table 1, α is determined according to the required mobility; in horizontal maneuvering conditions: when the underwater vehicle is controlled to rotate left,
the sign of (C) is negative
Taking the positive value; when the underwater vehicle is controlled to rotate to the right,
the symbol in (1) is positive, plus or minus
Taking the negative value; under vertical maneuvering conditions: when the underwater vehicle is controlled to float upwards,
the symbol in (1) is positive, plus or minus
Taking the negative value; when controlling the underwater vehicle to diveWhen the utility model is used, the water is discharged,
the sign of (B) is negative
And (4) taking the positive.
In some of these embodiments, 0< α ≦ π/4.
Compared with the prior art, the invention has the advantages and positive effects that:
1. compared with the traditional propulsion and control mode that a propeller is matched with a rudder, the propulsion and control integrated device of the underwater vehicle has the great advantages of high propulsion efficiency, flexible control, silence, concealment and the like;
2. compared with a double-pectoral fin propulsion mode in horizontal arrangement, the submersible vehicle propulsion and control integrated device provided by the invention adopts a cross-shaped layout of four pectoral fins, and has excellent maneuvering sailing capability in both horizontal and vertical directions;
3. the propulsion and control integrated device of the underwater vehicle can be used for navigation propulsion and maneuvering control of the underwater vehicle and is suitable for operation tasks such as underwater detection, environmental data acquisition and the like;
4. the underwater vehicle provided by the invention has the great advantages of high propulsion efficiency, flexible control flexibility, silence and concealment and the like, and is suitable for operation tasks such as underwater detection, environmental data acquisition and the like;
5. according to the navigation control method of the underwater vehicle, navigation power and maneuvering control force are generated by controlling the swing angle and the torsional deformation of the bionic pectoral fins and the mutual cooperation of the motion of the four bionic pectoral fins, and the control is simple and convenient; in addition, when the robot navigates horizontally and vertically, the bionic pectoral fins are used as a propelling component and a maneuvering control component, so that the control efficiency is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a front view of an integrated propulsion and control device for a submersible vehicle according to an embodiment of the present invention;
FIG. 2 is a side view of an integrated propulsion and control device for an underwater vehicle according to an embodiment of the invention;
FIG. 3 is a full-section side view of an integrated propulsion and control device of the underwater vehicle provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a bionic pectoral fin in the integrated device for propulsion and control of the underwater vehicle provided by the embodiment of the invention (the skin and the oscillating shaft of the pectoral fin are not shown);
fig. 5 is a schematic structural diagram of the bionic pectoral fin in a torsional state according to the embodiment of the present invention (the skin and the pectoral fin swing axis are not shown).
In the figure:
1. a housing; 2. simulating pectoral fins; 3. a drive assembly;
11. a drive bay; 12. a pectoral fin connection section; 121. an annular groove;
21. a pectoral fin oscillating shaft; 22. a mounting frame; 23. a pectoral fin framework; 231. a ring frame; 24. covering a skin; 25. pectoral fin torsion axis; 26. a pectoral fin crankshaft;
201. an upper pectoral fin; 202. a left pectoral fin; 203. a lower pectoral fin; 204. a right pectoral fin;
31. a swing drive; 32. the driver is twisted.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in fig. 1, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-3, the embodiment of the invention provides a propulsion and control integrated device of a submarine vehicle, which comprises a shell 1, a bionic pectoral fin 2 and a driving assembly 3; a driving cabin 11 is arranged in one axial end of the shell 1, and a pectoral fin connecting section 12 is arranged at the other axial end of the shell 1; the root of the bionic pectoral fin 2 is rotatably connected to the pectoral fin connecting section 12, the rotating axis of the root of the bionic pectoral fin 2 is arranged along the axial direction of the shell 1, the tip of the bionic pectoral fin 2 extends outwards, and the bionic pectoral fin 2 can be deformed in a twisting manner; the bionic pectoral fins 2 are four, the four bionic pectoral fins 2 have the same structure, and the four bionic pectoral fins 2 surround the periphery of the shell 1 and are arranged in a cross shape; the driving assembly 3 comprises a swinging driving piece 31 for driving the bionic pectoral fin 2 to swing around the root part and a torsion driving piece 32 for driving the bionic pectoral fin 2 to be in torsion deformation; the swing driving parts 31 are positioned in the driving cabin 11, the number of the swing driving parts 31 is equal to that of the bionic pectoral fins 2, and the swing driving parts 31 are connected to the roots of the bionic pectoral fins 2 in a one-to-one correspondence manner; the number of the torsion driving members 32 is equal to that of the bionic pectoral fins 2, and the torsion driving members 32 are correspondingly arranged on the bionic pectoral fins 2 one by one.
The propulsion and control integrated device of the underwater vehicle can simulate the motion form of the pectoral fin of a bat marine organism through the four bionic pectoral fins 2 and the auxiliary driving assembly 3, generate corresponding propulsion and maneuvering control force and drive the underwater vehicle to advance and maneuver and turn. Compared with the traditional propulsion and control mode that the propeller and the rudder are matched, the integrated propulsion and control device of the underwater vehicle has the great advantages of high propulsion efficiency, flexible control, silence, concealment and the like. Compared with a horizontally arranged double-pectoral fin propelling mode, the integrated device for propelling and controlling the underwater vehicle adopts a cross-shaped layout of four pectoral fins, and has excellent maneuvering sailing capability in the horizontal direction and the vertical direction. In a word, the integrated device for propelling and controlling the underwater vehicle can be used for propelling and maneuvering control of the underwater vehicle and is suitable for operation tasks such as underwater detection, environmental data acquisition and the like.
In order to facilitate the installation of the bionic pectoral fin 2, as shown in fig. 3, an annular groove 121 is formed in the periphery of the pectoral fin connecting section 12 of the shell 1, and the root of the bionic pectoral fin 2 is rotatably connected in the annular groove 121.
Further, as shown in fig. 3 and 4, the bionic pectoral fin 2 adopted in the present embodiment includes a pectoral fin swing shaft 21, a pectoral fin skeleton 23, a skin 24, a pectoral fin torsion shaft 25, and a pectoral fin crankshaft 26; the pectoral fin swinging shaft 21 is used as the root of the bionic pectoral fin 2, is rotatably connected with the pectoral fin connecting section 12 and is connected with the swinging driving piece 31; the pectoral fin framework 23 comprises a plurality of stages of ring frames 231 which are sequentially arranged from the root to the tip along the spanwise direction, the stage number of the ring frames 231 is the first stage close to the root, and the first stage ring frames 231 are connected with the pectoral fin swing shaft 21; the skin 24 is coated outside the pectoral fin framework 23; the pectoral fin torsion shaft 25 is used as an axis of the bionic pectoral fin 2 for torsion deformation, and the pectoral fin torsion shaft 25 is sequentially connected with all levels of ring frames 231 along the spanwise direction of the bionic pectoral fin 2; pectoral fin bent axle 26 is used for driving ring frames 231 at different levels and rotates around pectoral fin torsion shaft 25, and pectoral fin bent axle 26 connects in torsion driving piece 32 to connect gradually ring frames 231 at different levels, the distance between pectoral fin bent axle 26 and pectoral fin torsion shaft 25 increases gradually from bionic pectoral fin 2 root to tip, and pectoral fin bent axle 26 orientation is close to bionic pectoral fin 2 trailing edge direction bending. The bionic pectoral fin 2 with the structure can realize the swing motion of the bionic pectoral fin 2 by rotating the pectoral fin swing shaft 21; by rotating the pectoral fin crankshaft 26, the ring frames 231 at different levels can be driven to rotate around the pectoral fin torsion shaft 25, and the rotation angle of the ring frames 231 is gradually increased from the root to the tip, so that the fin surface of the bionic pectoral fin 2 generates uniform torsional deformation. Therefore, this kind of bionical pectoral fin 2 that this embodiment adopted can control the swing motion of bionical pectoral fin 2 through the rotation of controlling pectoral fin oscillating axle 21, can control the torsional deformation of bionical pectoral fin 2 through the rotation of controlling pectoral fin bent axle 26, is convenient for control, and moreover, its swing motion and torsional deformation mode are close with the bat ray, and propulsion efficiency is higher, attitude control is more steady. It is understood that the bionic pectoral fins 2 of other structures can be adopted by those skilled in the art, as long as the swinging motion and the torsional deformation are convenient to control. Preferably, the junction of pectoral fin crankshaft 26 and first stage ring 231 and the junction of pectoral fin torsion shaft 25 and first stage ring 231 are close together, and the junction of pectoral fin crankshaft 26 and last stage ring 231 is near the rear edge of last stage ring 231. The pectoral fin crankshaft 26 is arranged in this way, so that the torsional deformation which can be generated by the fin surface of the bionic pectoral fin 2 can be maximized, and the propulsion efficiency can be improved.
As shown in fig. 3, in the present embodiment, the swing driving member 31 is a swing driving motor, and an output shaft of the swing driving motor is connected to the pectoral fin swing shaft 21; the torsion driving member 32 is a torsion driving motor, the torsion driving motor is mounted on the pectoral fin framework 23, and an output shaft of the torsion driving motor is connected to the pectoral fin crankshaft 26. Further, in order to facilitate the installation of the torsion driving motor, as shown in fig. 3, the first-stage ring 231 is connected to the pectoral fin swing shaft 21 through a mounting bracket 22, and the torsion driving motor is installed on the mounting bracket 22.
Based on the integrated device for propelling and controlling the underwater vehicle, the invention also provides the underwater vehicle which comprises the integrated device for propelling and controlling the underwater vehicle. The underwater vehicle has the great advantages of high propelling efficiency, flexible control, silence, concealment and the like, and is suitable for operation tasks such as underwater detection, environmental data acquisition and the like. In this embodiment, specifically, the drive cabin 11 is located at the axial front end of the casing 1, the pectoral fin connecting section 12 is located at the axial rear end of the casing 1, and the axial front end of the casing 1 is installed at the tail of the underwater vehicle. It will be appreciated that the drive compartment 11 may also be provided at the axially rearward end of the housing 1, with the pectoral fin connection 12 at the axially forward end of the housing 1.
Based on the underwater vehicle, the invention also provides a navigation control method of the underwater vehicle, which is characterized in that the integrated device for propelling and controlling the underwater vehicle is adopted to control the navigation of the underwater vehicle, wherein the bionic pectoral fin 2 positioned above the navigation advancing direction of the underwater vehicle is taken as an upper pectoral fin 201, the bionic pectoral fin 2 positioned below the navigation advancing direction is taken as a lower pectoral fin 203, the bionic pectoral fin 2 positioned on the left side of the navigation advancing direction is taken as a left pectoral fin 202, and the bionic pectoral fin 2 positioned on the right side of the navigation advancing direction is taken as a right pectoral fin 204; the control method under different sailing conditions comprises the following steps:
s1, controlling the swing angle and torsional deformation of each bionic pectoral fin 2 to generate acting force for pushing water away from the sailing direction during straight-line sailing, and enabling rolling moments of the four bionic pectoral fins 2 acting on the underwater vehicle to offset each other;
s2, when the underwater vehicle is navigated by a horizontal motor, controlling the swing angle and torsional deformation of each bionic pectoral fin 2 to generate an acting force for pushing water away from the navigation direction, and controlling the superposition offset angle of the upper pectoral fin 201 and the lower pectoral fin 203 during torsional motion to generate a moment for horizontally rotating the underwater vehicle;
and S3, when the underwater vehicle navigates vertically, controlling the swing angle and torsional deformation of each bionic pectoral fin 2 to generate an acting force for pushing water away from the navigation direction, and controlling the left pectoral fin 202 and the right pectoral fin 204 to superpose offset angles during torsional movement to generate a moment for pitching the underwater vehicle.
According to the navigation control method of the underwater vehicle, the navigation power and the maneuvering control force are generated by controlling the swing angle and the torsional deformation of the bionic pectoral fins 2 and the mutual cooperation of the movement of the four bionic pectoral fins 2, and the control is simple and convenient; moreover, when the robot navigates horizontally and vertically, the bionic pectoral fin 2 is used as a propelling part and a maneuvering control part, so that the control efficiency is high.
Specifically, in the embodiment, the output angle of the swing driving motor is controlled to control the swing angle of the bionic pectoral fin 2 to change according to the function rule of the relation (1); controlling the torsion angle of the last stage ring frame 231 of the bionic pectoral fin 2 to change according to the function rule of the relation (2) by controlling the output angle of the torsion driving motor, thereby controlling the tail end torsion angle of the bionic pectoral fin 2;
the expression of the relation (1) is as follows:
θ i (t)＝θ max sin(2πft+δ i ) (1)
in the formula (1), θ i (t) is the swing angle of the ith bionic pectoral fin 2 at the moment t, theta max The amplitude of the swing angle of the bionic pectoral fin 2, f the swing frequency of the bionic pectoral fin 2, delta i The initial phase of the swing angle of the ith bionic pectoral fin 2 is shown; taking the sailing forward direction as the positive direction of the swing axis of the bionic pectoral fin 2, and when the swing angle of the bionic pectoral fin 2 and the positive direction of the swing axis accord with the right-hand rule, the swing angle is positive; for the upper pectoral fin 201 and the lower pectoral fin 203, the zero position of the swing angle is formed when the symmetry plane is in a vertical state; for the left pectoral fin 202 and the right pectoral fin 204, the symmetry plane is in a horizontal state and is a zero position of the swing angle;
the expression of the relation (2) is as follows:
in the formula (2), phi i (t) is the torsion angle of the last stage ring frame 231 of the ith bionic pectoral fin 2 at the time of t, phi max Is the amplitude of the torsion angle of the last stage ring frame 231, f is the oscillation frequency of the bionic pectoral fin 2, σ i Is the initial phase of the rotation angle of the last stage ring frame 231 of the ith bionic pectoral fin 2,
the offset of the rotation angle of the last stage ring frame 231 of the ith bionic pectoral fin 2; taking the outward direction of the unfolding direction of each bionic pectoral fin 2 as the positive direction of the torsion axis of the bionic pectoral fin 2, and when the torsion angle of the bionic pectoral fin 2 and the positive direction of the torsion axis accord with the right-hand rule, the torsion angle is positive; taking the bionic pectoral fin 2 in a no-torsion state as a zero position of a torsion angle;
in the formulas (1) and (2), i =1, 2, 3, 4, the upper pectoral fin 201 is numbered 1, the left pectoral fin 202 is numbered 2, the lower pectoral fin 203 is numbered 3, and the right pectoral fin 204 is numbered 4;
under different navigation conditions, the relational expressions are controlled according to the table 1(1) And δ in relation (2) i 、σ i And
TABLE 2 Delta i 、σ i And
value-taking table
In table 1, α is determined according to the required mobility; under horizontal maneuvering conditions: when the underwater vehicle is controlled to rotate left,
the sign of (C) is negative
Taking the positive value; when the underwater vehicle is controlled to rotate to the right,
the symbol in (B) is positive
Taking the negative value; in vertical maneuvering conditions: when the underwater vehicle is controlled to float upwards,
the symbol in (B) is positive
Taking the negative value; when the underwater vehicle is controlled to dive,
the sign of (C) is negative
And (4) taking the positive. Preferably, 0<α≤π/4。
In the embodiment, the swinging motion and the torsional deformation of the bionic pectoral fin 2 are controlled by adopting a trigonometric function rule, so that the motion of the underwater vehicle is more stable. It is understood that other laws can be adopted by those skilled in the art to control the swing motion and torsional deformation of the bionic pectoral fin 2.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications of the embodiments of the invention or equivalent substitutions for parts of the technical features are possible; without departing from the spirit of the invention, it is intended to cover all modifications within the scope of the invention as claimed.
Claims (8)
1. The integrated device for propelling and controlling the underwater vehicle is characterized by comprising:
the device comprises a shell, a driving cabin is arranged in one axial end of the shell, and the other axial end of the shell is a pectoral fin connecting section;
the root part of the bionic pectoral fin is rotatably connected to the pectoral fin connecting section, the rotating axis of the root part of the bionic pectoral fin is arranged along the axial direction of the shell, the tip part of the bionic pectoral fin extends outwards, and the bionic pectoral fin can be deformed in a twisting manner; the bionic pectoral fins are four, the four bionic pectoral fins have the same structure, and the four bionic pectoral fins surround the periphery of the shell and are arranged in a cross shape;
the driving assembly comprises a swinging driving piece and a torsion driving piece, wherein the swinging driving piece is used for driving the bionic pectoral fin to swing around the root, and the torsion driving piece is used for driving the bionic pectoral fin to deform in a torsion mode; the swing driving parts are positioned in the driving cabin, the number of the swing driving parts is equal to that of the bionic pectoral fins, and the swing driving parts are connected to the roots of the bionic pectoral fins in a one-to-one correspondence manner; the number of the torsion driving pieces is equal to that of the bionic pectoral fins, and the torsion driving pieces are correspondingly arranged on the bionic pectoral fins one by one;
wherein the biomimetic pectoral fin comprises:
the pectoral fin swinging shaft is used as the root of the bionic pectoral fin, is rotatably connected with the pectoral fin connecting section and is connected with the swinging driving piece;
the pectoral fin framework comprises a plurality of stages of ring frames which are sequentially arranged from a root part to a tip part along the spanwise direction, the stage number of the ring frames takes the position close to the root part as a first stage, and the first stage of the ring frames are connected with the pectoral fin swinging shaft;
the skin covers the pectoral fin framework;
the pectoral fin torsion shaft is used as an axis of the bionic pectoral fin torsion deformation, and the pectoral fin torsion shaft is sequentially connected with the ring frames at all levels along the spanwise direction of the bionic pectoral fin;
the pectoral fin crankshaft is used for driving the ring frames at all levels to rotate around the pectoral fin torsion shaft, is connected to the torsion driving piece and is sequentially connected with the ring frames at all levels; the distance between the pectoral fin crankshaft and the pectoral fin torsion shaft is gradually increased from the root part to the tip part of the bionic pectoral fin, and the pectoral fin crankshaft is bent towards the direction close to the rear edge of the bionic pectoral fin;
the swing driving piece is a swing driving motor, and an output shaft of the swing driving motor is connected to the pectoral fin swing shaft; the torsion driving piece is a torsion driving motor, the torsion driving motor is installed on the pectoral fin framework, and an output shaft of the torsion driving motor is connected to the pectoral fin crankshaft.
2. The integrated propulsion and control device of an underwater vehicle as claimed in claim 1, wherein the periphery of the pectoral fin connecting section of the shell is provided with an annular groove, and the root of the bionic pectoral fin is rotatably connected in the annular groove.
3. The integrated submersible propulsion and control device of claim 1 wherein the connection of the pectoral fin crankshaft to the first stage of the ring frame and the connection of the pectoral fin torsion shaft to the first stage of the ring frame are close together, the connection of the pectoral fin crankshaft to the last stage of the ring frame being near the trailing edge of the last stage of the ring frame.
4. The integrated submersible propulsion and control device of claim 1 wherein the first stage of the ring frame is connected to the pectoral fin swing shaft by a mounting bracket on which the torsional drive motor is mounted.
5. An underwater vehicle comprising an integrated propulsion and control device for an underwater vehicle as claimed in any one of claims 1 to 4.
6. The navigation control method of the underwater vehicle according to claim 5, characterized in that the integrated propulsion and control device of the underwater vehicle is used to control the navigation of the underwater vehicle, wherein the bionic pectoral fin positioned above the navigation heading direction of the underwater vehicle is an upper pectoral fin, the bionic pectoral fin positioned below the navigation heading direction is a lower pectoral fin, the bionic pectoral fin positioned on the left side of the navigation heading direction is a left pectoral fin, and the bionic pectoral fin positioned on the right side of the navigation heading direction is a right pectoral fin; the control method under different sailing conditions comprises the following steps:
when the underwater vehicle navigates in a straight line, the swing angle and the torsional deformation of each bionic pectoral fin are controlled to generate an acting force for pushing water away from the navigation direction, and the rolling moments of the four bionic pectoral fins acting on the underwater vehicle are mutually offset;
when the underwater vehicle is in horizontal maneuvering navigation, controlling the swing angle and the torsional deformation of each bionic pectoral fin to generate an acting force for pushing water away from the navigation direction, and controlling the upper pectoral fin and the lower pectoral fin to superpose offset angles during torsional motion to generate a moment for horizontally rotating the underwater vehicle;
when the underwater vehicle navigates vertically, the swing angle and the torsional deformation of each bionic pectoral fin are controlled to generate an acting force for pushing water away from the navigation direction, and the left pectoral fin and the right pectoral fin are controlled to be superposed with an offset angle during torsional movement to generate a moment for pitching and rotating the underwater vehicle.
7. The underwater vehicle navigation control method according to claim 6, wherein the swing angle of the bionic pectoral fin is controlled to change according to a functional rule of the relation (1) by controlling the output angle of the swing driving motor; controlling the torsion angle of the ring frame at the last stage of the bionic pectoral fin to change according to the function rule of the relation (2) by controlling the output angle of the torsion driving motor, so as to control the tail end torsion angle of the bionic pectoral fin;
the expression of the relational expression (1) is as follows:
θ i (t)＝θ max sin(2πft+δ i ) (1)
in the formula (1), θ i (t) is the swing angle of the ith bionic pectoral fin at the moment t, theta max Is the amplitude of the swing angle of the bionic pectoral fin, f is the swing frequency of the bionic pectoral fin, delta i The initial phase of the ith bionic pectoral fin swing angle is; taking the sailing forward direction as the positive direction of the bionic pectoral fin oscillating axis, and when the oscillating angle of the bionic pectoral fin and the positive direction of the oscillating axis accord with the right-hand rule, the oscillating angle is positive; for the upper pectoral fin and the lower pectoral fin, the zero position of the swing angle is formed when the symmetrical plane of the upper pectoral fin and the lower pectoral fin is in a vertical state; for the left pectoral fin and the right pectoral fin, the zero position of the swing angle is formed when the symmetry plane of the left pectoral fin and the right pectoral fin is in a horizontal state;
the expression of the relational expression (2) is as follows:
in the formula (2), phi i (t) is the torsion angle of the last stage of the ring frame of the ith bionic pectoral fin at the moment t, phi max The amplitude of the torsion angle of the ring frame at the last stage, f is the swing frequency of the bionic pectoral fin, sigma i The rotation angle of the ring frame for the ith stage of the bionic pectoral finThe initial phase of the phase-locked loop,
the offset of the rotation angle of the ring frame at the last stage of the ith bionic pectoral fin; taking the outward direction of the stretching direction of each bionic pectoral fin as the positive direction of the torsion axis of the bionic pectoral fin, and when the torsion angle of the bionic pectoral fin and the positive direction of the torsion axis accord with the right-hand rule, the torsion angle is positive; taking the bionic pectoral fin in a no-torsion state as a zero position of a torsion angle;
in the formulas (1) and (2), i =1, 2, 3, 4, the upper pectoral fin is numbered 1, the left pectoral fin is numbered 2, the lower pectoral fin is numbered 3, and the right pectoral fin is numbered 4;
controlling delta in the relational expression (1) and the relational expression (2) according to the table 1 under different navigation conditions i 、σ i And
TABLE 1. Delta i 、σ i And
value-taking table
In table 1, α is determined according to the required mobility; under horizontal maneuvering conditions: when the underwater vehicle is controlled to turn left,
the sign of (B) is negative
Taking the positive value; when the underwater vehicle is controlled to rotate to the right,
the symbol in (B) is positive
Taking the negative value; under vertical maneuvering conditions: when the underwater vehicle is controlled to float upwards,
the symbol in (B) is positive
Taking a negative value; when the underwater vehicle is controlled to dive,
the sign of (B) is negative
And (4) taking the positive.
8. The method of controlling navigation of a submersible vehicle according to claim 7, wherein 0< α ≦ π/4.
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Address after: 100074, No. 40, Yungang North Lane, Fengtai District, Beijing Patentee after: Beijing Electromechanical Engineering Research Institute Patentee after: Qingdao Marine Science and Technology Center Address before: 100074, No. 40, Yungang North Lane, Fengtai District, Beijing Patentee before: Beijing Electromechanical Engineering Research Institute Patentee before: QINGDAO NATIONAL LABORATORY FOR MARINE SCIENCE AND TECHNOLOGY DEVELOPMENT CENTER |