CN114435044A - Variable cross-medium aircraft - Google Patents
Variable cross-medium aircraft Download PDFInfo
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- CN114435044A CN114435044A CN202210109570.9A CN202210109570A CN114435044A CN 114435044 A CN114435044 A CN 114435044A CN 202210109570 A CN202210109570 A CN 202210109570A CN 114435044 A CN114435044 A CN 114435044A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/30—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils retracting or folding
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/34—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction
- B63B1/38—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction using air bubbles or air layers gas filled volumes
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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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/006—Flying-boats; Seaplanes with lift generating devices
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/34—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction
- B63B1/38—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction using air bubbles or air layers gas filled volumes
- B63B2001/382—Other means for varying the inherent hydrodynamic characteristics of hulls by reducing surface friction using air bubbles or air layers gas filled volumes by making use of supercavitation, e.g. for underwater vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The disclosure relates to the technical field of ocean engineering equipment, and discloses a variable-body cross-medium aircraft which comprises a hull, a hull head, at least one pair of variable wing structures, a propulsion system and a control system, wherein the hull and the hull head are connected into a whole. The at least one pair of variant wing structures are symmetrically arranged on two sides of the hull, each variant wing structure comprises a NACA hydrofoil and a supercavitation hydrofoil, the NACA hydrofoils are arranged at the root of the variant wing structures and connected with the hull, and the supercavitation hydrofoils are arranged at the end parts of the variant wing structures and connected with the NACA hydrofoils. The propulsion system is arranged at the tail part of the submarine body, and a water jet propeller is adopted to provide power support for the cross-medium aircraft. The control system is arranged in the submarine body, double-ring feedback control is adopted, the propulsion system and the variant wing structure are controlled based on the combined application of multiple sensors, and the navigation of the cross-medium aircraft in different media under water and on the water is realized.
Description
Technical Field
The disclosure relates to the technical field of ocean engineering equipment, in particular to a variable cross-medium aircraft.
Background
In recent years, the development planning of the ocean field is established in all countries of the world, and the development of an underwater unmanned vehicle (AUV) is supported greatly.
In contrast, the cross-medium aircraft can be hidden underwater and can also be defended in the air, so that the cross-medium aircraft is difficult to track and lock, and meanwhile, the cross-medium aircraft can support full-space cooperative combat, the development of the cross-medium aircraft has important significance for future war, and the research of the cross-medium aircraft adapting to the multi-medium environment becomes an important development direction of military strong countries. Therefore, development of a high-performance cross-media aircraft is very necessary.
Disclosure of Invention
Technical problem to be solved
In view of the above, a primary object of the present disclosure is to provide a transformable cross-media vehicle.
(II) technical scheme
In order to achieve the above purpose, the technical solution adopted by the present disclosure is as follows:
a variable-volume cross-medium craft, which is streamlined overall and comprises a hull 4 and a bow 5 which are connected into a whole, and further comprises:
at least one pair of variant wing structures symmetrically arranged on two sides of the hull 4, wherein each variant wing structure comprises a NACA hydrofoil 2 and a supercavitation hydrofoil 3, the NACA hydrofoils 2 are arranged at the root of the variant wing structure and connected with the hull 4, and the supercavitation hydrofoils 3 are arranged at the end parts of the variant wing structures and connected with the NACA hydrofoils 2;
the propulsion system is arranged at the tail part of the submarine body 4 and adopts the water jet propeller 1 to provide power support for the cross-medium aircraft;
the control system is arranged inside the boat body 4, adopts double-ring feedback control, and controls the propulsion system and the variant wing structure based on the combined application of multiple sensors, so that the cross-medium aircraft can sail in different media under water and on the water.
In the above solution, the morphing wing structure further includes a folding mechanism, and the NACA hydrofoils 2 and the supercavitation hydrofoils 3 are connected through the folding mechanism.
In the scheme, the folding mechanism adopts a mechanical self-locking device to fold and unfold the NACA hydrofoil 2 and the supercavitation hydrofoil 3, so that the cross-medium aircraft can be switched between different media on the water surface and under the water.
In the scheme, the NACA hydrofoil 2 is horizontally arranged relative to the hull 4, so that the lift resistance is large, and when the cross-medium aircraft runs in an accelerating mode, the pressure difference between the upper surface and the lower surface of the NACA hydrofoil 2 can generate an upward lift force to lift the cross-medium aircraft out of the water surface.
In the scheme, the supercavitation hydrofoil 3 is obliquely arranged relative to the boat body 4, the wing-shaped design is adopted, the free liquid level is cut in the sailing process, and the air film is formed on the surface of the supercavitation hydrofoil 3, so that the underwater resistance of the cross-medium aircraft is reduced, and the sailing speed of the cross-medium aircraft is improved.
In the scheme, the number of the morphing wing structures is 1 pair, 2 pairs, 3 pairs or 4 pairs. Optionally, the number of said morphing wing structures is 2 pairs, one pair before and after hull 4.
In the above solution, the water jet propeller 1 adopted by the propulsion system comprises an annular duct 6, a stator 7 and a rotor 8, wherein:
the annular duct 6 is fixedly arranged at the tail part of the boat body 4 and wraps the stator 7 and the rotor 8;
the stator 7 is a group of fixed blades which form a certain angle with the incoming flow, generates prerotation for the rotor inflow and simultaneously fixes the annular conduit 6 at the tail part of the submarine body 4;
the rotor 8 is a set of rotatable blades that propel the vehicle through interaction with the water current.
In the above scheme, the airfoil section of the annular duct 6 is the control surface of the flow field of the water jet propeller 1.
In the scheme, the control system adopts a double-loop feedback control structure, and realizes accurate control of the cross-medium aircraft under different navigation environment conditions by using real-time feedback of a plurality of sensors.
In the scheme, the double-loop feedback control structure comprises inner loop control and outer loop control, the attitude and the speed of the cross-medium vehicle are stabilized by using the inner loop control, and the high-precision tracking of the motion track instruction is realized by using the outer loop control.
In the above scheme, the inner ring control includes fiber optic gyroscope and doppler velocimeter, the outer ring control includes pressure sensor, big dipper satellite navigation system, depth gauge, side scan sonar and acoustics doppler velocity of flow section appearance.
(III) advantageous effects
The changeable cross-medium aircraft provided by the present disclosure has the following beneficial effects:
1. the variable cross-medium aircraft provided by the disclosure is designed based on a folding and unfolding mechanism theory aiming at different sailing requirements under different working conditions of water surface and underwater, namely, NACA hydrofoils 2 which are positioned on two sides of a boat body 4 and are horizontally arranged relative to the boat body 4 and supercavitation hydrofoils 3 which are positioned on two sides of the boat body 4 and are obliquely arranged relative to the boat body 4, free folding and unfolding of the NACA hydrofoils 2 and the supercavitation hydrofoils 3 are realized through a control system and a mechanical self-locking device, and the cross-medium aircraft can meet the requirements of high-speed driving in different media of water surface and underwater under different working conditions.
2. According to the variable cross-medium aircraft provided by the disclosure, the NACA hydrofoils 2 and the supercavitation hydrofoils 3 are freely folded and unfolded by adopting the mechanical self-locking device, so that the cross-medium aircraft can be freely switched between different media on the water surface and under the water, and the cross-medium aircraft can effectively realize rapid navigation on the water surface and safe stealth under the water.
3. The deformable cross-medium aircraft provided by the disclosure can be accurately positioned on the water surface by adopting a deformable wing structure, a propulsion system and a control system, quickly sails by utilizing the NACA hydrofoil 2 to enter a designated sea area, then the NACA hydrofoil 2 is folded up through a deformation, and meanwhile, the supercavitation hydrofoil 3 is unfolded and quickly submerged under the water to perform underwater target detection and environment monitoring on the specific sea area. After the underwater observation task is finished, the underwater observation task can float out of the water surface, and then the NACA hydrofoil 2 is unfolded through the variant and autonomously and rapidly navigates back. The cross-medium aircraft can simultaneously perform environment detection on the water surface and the underwater, improves the three-dimensional monitoring and detection level of the marine environment in China, and can also be applied to marine emergency search and rescue.
4. According to the variable cross-medium aircraft provided by the disclosure, the whole cross-medium aircraft is made of lightweight composite materials, and adopts compact and exquisite structural design and system arrangement, so that the cross-medium motion of the aircraft on the water surface and under the water is effectively realized, and the cross-medium aircraft has good environmental adaptability and concealment on the basis of ensuring the overall lightweight of the cross-medium aircraft, and can be widely applied to various military and civil operation scenes.
5. According to the variable cross-medium aircraft provided by the disclosure, the operation switching under different water and water environments is realized according to the requirements of the variable cross-medium aircraft, and a control algorithm with robust performance and self-adaptive performance is designed to complete the stable dynamic motion of the aircraft across the medium.
Drawings
The above and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a cross-media vehicle according to a variation of an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a supercavitation hydrofoil in a cross-media aircraft in accordance with a variation of an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a propulsion system in a cross-media aircraft in accordance with a variation of an embodiment of the present disclosure;
fig. 4 is a functional block diagram of a control system in a cross-media aircraft in accordance with a variation of the disclosed embodiment.
Reference numerals: 1-water jet propeller, 2-NACA hydrofoil, 3-supercavitation hydrofoil, 4-hull, 5-hull head, 6-annular conduit, 7-stator and 8-rotor.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of illustrating the present disclosure and should not be construed as limiting the same.
In the description of the present disclosure, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
In the description of the present disclosure, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Aiming at the urgent need of developing a high-performance cross-medium aircraft, the prior art discloses a variant cross-medium aircraft which mainly comprises a pressure-resistant watertight cabin, wherein a propeller is arranged at the bottom of the pressure-resistant watertight cabin, a plurality of foldable paddle arms are arranged at the top of the pressure-resistant watertight cabin, so that a revolving body streamline structure is formed, a motor and a rotor wing are arranged on the top surfaces of the paddle arms, and a control system and a power supply system are arranged inside the pressure-resistant watertight cabin. The cross-medium aircraft utilizes the ideas of a revolving body structure and a variant so as to realize high-speed motion and autonomous hovering of the multi-rotor aircraft and basically realize cross-medium motion of aerial flight and underwater diving.
The prior art also discloses a medium crossing aircraft, the main body of the medium crossing aircraft is an aircraft body, an accommodating mechanism is used for connecting a hydrofoil, a discarding mechanism is used for connecting a main wing, an air inlet and a water inlet are arranged on the aircraft body, an air jet and a water jet are arranged at the rear part of the aircraft body, the water inlet and the water jet are connected through a water channel, a tail rudder is arranged at the rear part of the aircraft body, and the main wing is used for providing main lift force for the aircraft in the air posture and adjusting the lift force by using the attack angle of the main wing. And the power system technology under different working environments is adopted, so that the propulsion under different modes is realized. The hydrofoil at the front part of the aircraft can provide lift force in the takeoff process, and the main wing can be automatically abandoned when the aircraft is stable, so that the dead weight of the aircraft is reduced, the resistance is reduced, and the speed is increased.
The prior art also discloses a cross-medium aircraft based on hydrofoil adjustment, which comprises an aircraft main body, wherein an air inlet channel and a water inlet channel are respectively arranged in the aircraft main body, the air inlet channel comprises an air jet propulsion system, the water inlet channel comprises a horizontal main wing connected to the middle of the aircraft main body, the horizontal main wing is connected with a control system for changing the attack angle of an aileron of the horizontal main wing, the tail of the aircraft main body is connected with a fin-rudder structure, and the front of the aircraft main body is connected with a front hydrofoil structure. The cross-medium aircraft overcomes the problem that the existing aircraft can only enter water in a unidirectional mode to obtain single-mode cross-medium work, but the emission concealment is poor.
The prior art also discloses a deformable composite wing cross-medium flying submersible vehicle, which comprises a vehicle body, two groups of deformable flapping wing mechanisms, two groups of tilting multi-rotor wing mechanisms, a framework, an empennage and two groups of water surface floating devices. The fuselage includes frame and two frame connecting pieces, and wherein the frame includes longeron and crossbeam, and the front portion and the rear portion of longeron all are equipped with the opening, and both ends about the crossbeam are installed respectively to two frame connecting pieces. The empennage is arranged at the rear end of the longitudinal beam, and the two groups of water surface floating devices are respectively arranged in the middle of the two frame connecting pieces. Two sets of many rotor mechanisms that can vert are installed between two frame connecting pieces, and two sets of flexible flapping wing mechanisms are installed respectively in the outside middle part of two frame connecting pieces. The skeleton includes front end skeleton, connects skeleton, rear end skeleton and annular skeleton. The front end skeleton is connected with the front end of annular skeleton, and the rear end skeleton of annular skeleton are connected, and the both ends of two frame connecting pieces are connected with front end skeleton and rear end skeleton respectively, and the fuselage is located annular skeleton.
Therefore, in the prior art, hydrofoils across the medium aircraft mostly adopt abandoned structure design as a main part, free retraction and extension cannot be realized, and the application and batch production in actual engineering are less.
In view of the above, the disclosed embodiment provides a variable cross-medium vehicle, as shown in fig. 1, fig. 1 is a schematic structural diagram of a variable cross-medium vehicle according to an embodiment of the present disclosure, and the cross-medium vehicle is overall streamlined and includes a hull 4 and a hull bow 5, which are connected into a whole, and at least one pair of variable wing structures, a propulsion system and a control system.
Wherein, at least a pair of variant wing structures symmetry sets up in hull 4's both sides, and every variant wing structure includes a NACA hydrofoil 2 and a supercavitation hydrofoil 3, and wherein NACA hydrofoil 2 sets up in the root of variant wing structure and is connected with hull 4, and supercavitation hydrofoil 3 sets up in the tip of variant wing structure and connects in NACA hydrofoil 2. The propulsion system is arranged at the tail part of the boat body 4, and the water jet propeller 1 is adopted to provide power support for the cross-medium aircraft. The control system is arranged in the hull 4, adopts double-ring feedback control, and controls the propulsion system and the variant wing structure based on the combined application of multiple sensors, so as to realize navigation of the cross-medium aircraft in different media under water and on the water.
In the embodiment of the disclosure, the whole cross-medium aircraft provided by the disclosure adopts lightweight composite materials, adopts compact and exquisite structural design and system arrangement, effectively realizes the water surface and underwater cross-medium motion of the aircraft, has good environmental adaptability and concealment on the basis of ensuring the overall lightweight of the cross-medium aircraft, and can be widely applied to various military and civil operation scenes.
In an embodiment of the present disclosure, the morphing wing structure further comprises a folding mechanism by which the NACA hydrofoils 2 and the supercavitation hydrofoils 3 are connected together. Optionally, the folding mechanism adopts a mechanical self-locking device to fold and unfold the NACA hydrofoils 2 and the supercavitation hydrofoils 3, so that the cross-medium aircraft can be freely switched between different media on the water surface and under water, and the cross-medium aircraft can effectively realize quick navigation on the water surface and safe stealth under water. The variant wing structure adopts a mechanical self-locking device, utilizes the concept of the variant and the principle of a folding mechanism to design a movable 'joint' mechanism of the supercavitation hydrofoil 3, realizes the retraction of wing plates of the medium-crossing aircraft, ensures that the medium-crossing aircraft simultaneously meets the navigation requirements under different navigation conditions from water to water, and realizes high-efficiency and high-speed navigation.
In the disclosed embodiment, the NACA hydrofoil 2 is arranged horizontally with respect to the hull 4, as shown in fig. 1, the NACA hydrofoil 2 has a large lift and drag, and when the cross-media vehicle travels with acceleration, the pressure difference between the upper and lower surfaces of the NACA hydrofoil 2 generates an upward lift force to lift the cross-media vehicle out of the water.
In the embodiment of the disclosure, the supercavitation hydrofoil 3 is obliquely arranged relative to the hull 4, and an airfoil design is adopted, as shown in fig. 2, a free liquid level is cut during the sailing process, and an air film is formed on the surface of the supercavitation hydrofoil 3, so that the resistance of the cross-medium aircraft under water is reduced, and the sailing speed of the cross-medium aircraft is improved.
In the embodiment of the disclosure, firstly, according to the target speed of the cross-medium aircraft, an NACA airfoil model with the largest lift-drag ratio is selected as an NACA hydrofoil 2, and the trailing edge part of the NACA hydrofoil 2 is used as the leading edge of a supercavitation hydrofoil 3, as shown in fig. 2, when the cross-medium aircraft is accelerated to run, the pressure difference between the upper surface and the lower surface of the NACA hydrofoil 2 generates an upward lift force to lift the upper half part of the cross-medium aircraft body out of the water surface, so that the wet surface area of the cross-medium aircraft body is reduced, and the viscous resistance and the wave-making resistance of the cross-medium aircraft body are further reduced. Secondly, the rear edge part of the supercavitation hydrofoil 3 is independently designed, as shown in fig. 2, the supercavitation hydrofoil 3 is enabled to pass through an effective curved surface and an attack angle, pressure difference resistance and tail edge eddy current are reduced, energy loss is reduced, extra lift force is provided for the hydrofoil in a full-wet state, the free liquid level is cut by the supercavitation hydrofoil 3, wave making resistance and viscous resistance of the aircraft during navigation on the water surface are reduced, and therefore the traveling speed of the aircraft on the water surface is greatly improved. As shown in fig. 2, the trailing edge portion of supercavitation hydrofoil 3 may be referred to as a cavitation generator, and the leading edge of supercavitation hydrofoil 3 and the trailing edge of supercavitation hydrofoil 3 together form supercavitation hydrofoil 3 and are symmetrically distributed on both sides of hull 4.
Therefore, the variable wing structure is designed based on the folding and unfolding mechanism theory aiming at different sailing requirements under different working conditions on the water surface and under water, namely the NACA hydrofoil 2 which is positioned on two sides of the hull 4 and horizontally arranged relative to the hull 4 and the supercavitation hydrofoil 3 which is positioned on two sides of the hull 4 and obliquely arranged relative to the hull 4 are freely folded and unfolded through the control system and the mechanical self-locking device, so that the cross-medium aircraft can meet the requirements of high-speed running in different media on the water surface and under water under different working conditions.
In embodiments of the present disclosure, the number of morphing wing structures is 1 pair, 2 pairs, 3 pairs, or 4 pairs. Alternatively, as shown in fig. 1, the number of the morphing wing structures is 2, one pair before and after the hull 4.
In an embodiment of the present disclosure, the propulsion system employs a water jet propeller 1 comprising an annular duct 6, a stator 7 and a rotor 8, as shown in particular in fig. 3, fig. 3 being a schematic structural view of a propulsion system in a cross-media vehicle according to a variant of an embodiment of the present disclosure. Wherein: the annular duct 6 is fixedly arranged at the tail part of the boat body 4 and wraps the stator 7 and the rotor 8, and the airfoil section of the annular duct 6 is a control surface of a flow field of the water jet propeller 1. The stator 7 is a group of fixed blades which form a certain angle with the incoming flow, generates prerotation for the rotor inflow and simultaneously fixes the annular conduit 6 at the tail part of the submarine body 4; the rotor 8 is a set of rotatable blades that propel the vehicle through interaction with the water current. The airfoil profile of the annular duct 6 is the control surface of the flow field of the waterjet 1.
In the embodiment of the disclosure, the water jet propeller composed of the annular conduit 6, the stator 7 and the rotor 8 is a combined propulsion system, has high water jet propulsion stability, good operability, low noise and high propulsion efficiency, can be combined with the dynamic characteristics of a cross-medium aircraft in a control system, and is designed to meet the requirements of the water-underwater cross-medium aircraft, so that the water jet propulsion system can be used for realizing high-efficiency and low-noise propulsion of the cross-medium aircraft.
In the embodiment of the disclosure, the control system adopts a double-ring feedback control structure, and realizes accurate control of the cross-medium aircraft under different navigation environment conditions by utilizing real-time feedback of a plurality of sensors. As shown in fig. 4, fig. 4 is a functional block diagram of a control system in a cross-media aircraft according to a variation of the disclosed embodiment. The double-loop feedback control structure comprises inner loop control and outer loop control, the attitude and the speed of the cross-medium aircraft are stabilized by utilizing the inner loop control, and the high-precision tracking of a motion track instruction is realized by utilizing the outer loop control. The inner ring control comprises a fiber optic gyroscope and a Doppler velocimeter, and the outer ring control comprises a pressure sensor, a Beidou satellite navigation system, a depth meter, a side scan sonar and an acoustic Doppler current profiler.
In the embodiment of the disclosure, as the cross-medium vehicle needs to realize motion in different water and underwater media, the difference of dynamic characteristics is large, and the double-loop feedback control system can not only stabilize the attitude and speed of the vehicle, but also realize high-precision tracking of a motion track. And the fusion of multiple sensors can transmit surrounding environment information and self motion state information to a control system in real time, so as to complete the intelligent control of the cross-medium vehicle.
In addition, the variable cross-medium aircraft provided by the disclosure realizes the switching of operation under different water and water environments according to the requirements of the variable cross-medium aircraft, and designs a control algorithm with robust performance and self-adaptive performance to complete the stable dynamic motion of the aircraft across the medium. The control algorithm utilizes a feedback control principle, combines measured values and estimated values of a multi-mode sensor, calculates the driving output of the aircraft in real time, specifically adopts controller design methods such as adaptive PID, robust control, model predictive control, pre-trained neural network control and the like to design the control algorithm, selects a corresponding controller according to specific tasks during operation, and realizes the control of the aircraft with robustness and adaptivity.
The variable cross-medium aircraft provided by the embodiment of the disclosure transmits information to the cross-medium aircraft by using the combined control of multiple sensors through a double-ring feedback control system and performs power propulsion through a water jet propeller, so that the control on the variable super-cavity hydrofoil 3 from the water surface to the underwater of the cross-medium aircraft is completed.
The deformable cross-medium aircraft provided by the disclosure can be accurately positioned on the water surface by adopting a deformable wing structure, a propulsion system and a control system, rapidly sails by utilizing the NACA hydrofoil 2 to enter a designated sea area, then packs up the NACA hydrofoil 2 through a variant, simultaneously unfolds the supercavitation hydrofoil 3, rapidly submerges underwater, and performs underwater target detection and environmental monitoring on the specific sea area. After the underwater observation task is finished, the underwater observation task can float out of the water surface, and then the NACA hydrofoil 2 is unfolded through the variant and autonomously and rapidly navigates back. The cross-medium aircraft can simultaneously perform environment detection on the water surface and the underwater, improves the three-dimensional monitoring and detection level of the marine environment in China, and can also be applied to marine emergency search and rescue.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (12)
1. A variable cross-medium vehicle, which is streamlined overall and comprises a hull (4) and a prow (5) connected as a whole, characterized in that the cross-medium vehicle further comprises:
the submarine comprises a hull (4), at least one pair of variant wing structures and at least one pair of ultra-cavitation-bubble-type wing structures, wherein the variant wing structures are symmetrically arranged on two sides of the hull (4), each variant wing structure comprises an NACA hydrofoil (2) and an ultra-cavitation-bubble hydrofoil (3), the NACA hydrofoils (2) are arranged at the root of the variant wing structures and are connected with the hull (4), and the ultra-cavitation-bubble hydrofoils (3) are arranged at the end parts of the variant wing structures and are connected with the NACA hydrofoils (2);
the propulsion system is arranged at the tail part of the submarine body (4) and adopts a water jet propeller (1) to provide power support for the cross-medium aircraft;
the control system is arranged in the submarine body (4), double-ring feedback control is adopted, the propulsion system and the variant wing structure are controlled based on combined application of multiple sensors, and navigation of the cross-medium aircraft in different mediums under water and on the water is achieved.
2. The morphable cross-media vehicle according to claim 1, wherein the morph wing structure further comprises a folding mechanism by which the NACA hydrofoils (2) and the supercavitation hydrofoils (3) are connected.
3. The variable cross-medium vehicle according to claim 2, characterized in that the folding mechanism employs a mechanical self-locking device to fold and unfold the NACA hydrofoil (2) and the supercavitation hydrofoil (3), so as to realize the switching of the cross-medium vehicle between different media on the water surface and under the water.
4. The variable-hull cross-media craft according to claim 2, characterized in that the NACA hydrofoil (2) is arranged horizontally with respect to the craft body (4) and has a large lift-drag, and when the cross-media craft is accelerated, the pressure difference between the upper and lower surfaces of the NACA hydrofoil (2) will generate an upward lift force to lift the cross-media craft out of the water.
5. The variable-volume cross-medium vehicle according to claim 2, characterized in that the supercavitation hydrofoil (3) is obliquely arranged relative to the hull (4), and an airfoil design is adopted to cut a free liquid level during traveling, so that an air film is formed on the surface of the supercavitation hydrofoil (3), thereby reducing the resistance of the cross-medium vehicle under water and increasing the traveling speed of the cross-medium vehicle.
6. The morphable cross-media vehicle of claim 1, wherein the number of the morphing wing structures is 1, 2, 3, or 4 pairs.
7. The variable-volume cross-medium vehicle according to claim 6, characterized in that the number of said variant wing structures is 2 pairs, one pair before and after the hull (4).
8. The modifiable cross-media vehicle according to claim 1, characterized in that said propulsion system employs a waterjet (1) comprising an annular duct (6), a stator (7) and a rotor (8), wherein:
the annular guide pipe (6) is fixedly arranged at the tail part of the boat body (4) and wraps the stator (7) and the rotor (8);
the stator (7) is a group of fixed blades which form a certain angle with the incoming flow, generate prerotation for the rotor inflow and simultaneously fix the annular conduit (6) at the tail part of the submarine body (4);
the rotor (8) is a set of rotatable blades that propel the vehicle through interaction with the water flow.
9. The modifiable cross-media vehicle according to claim 8, characterized in that the aerofoil profile of said annular duct (6) is a control surface of the waterjet (1) flow field.
10. The morphable cross-media vehicle of claim 1, wherein the control system employs a dual loop feedback control architecture, utilizing real-time feedback from multiple sensors to achieve precise control of the cross-media vehicle under different navigation environment conditions.
11. The variable body cross-media vehicle of claim 10, wherein the double loop feedback control structure comprises an inner loop control and an outer loop control, the inner loop control is used for stabilizing the attitude and the speed of the cross-media vehicle, and the outer loop control is used for realizing high-precision tracking of the motion track command.
12. The variable volume cross-media vehicle of claim 11, wherein the inner loop controls comprise fiber optic gyroscopes and doppler velocimeters and the outer loop controls comprise pressure sensors, beidou satellite navigation systems, depth gauges, side scan sonars, and acoustic doppler flow profilers.
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| CN202210109570.9A CN114435044A (en) | 2022-01-28 | 2022-01-28 | Variable cross-medium aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210109570.9A CN114435044A (en) | 2022-01-28 | 2022-01-28 | Variable cross-medium aircraft |
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| CN115408778A (en) * | 2022-10-31 | 2022-11-29 | 北京大学 | Method, device and equipment for determining hydrofoil structure size parameters of cross-medium aircraft |
| CN116176193A (en) * | 2023-04-23 | 2023-05-30 | 北京大学 | Cross-medium aircraft |
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