CN114852301A - Auxiliary propulsion device for flap of wave glider - Google Patents
Auxiliary propulsion device for flap of wave glider Download PDFInfo
- Publication number
- CN114852301A CN114852301A CN202210348839.9A CN202210348839A CN114852301A CN 114852301 A CN114852301 A CN 114852301A CN 202210348839 A CN202210348839 A CN 202210348839A CN 114852301 A CN114852301 A CN 114852301A
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- CN
- China
- Prior art keywords
- hydrofoil
- flap
- angle
- wave glider
- trailing edge
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B63G8/20—Steering equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
- B63H25/381—Rudders with flaps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
- B63H2025/388—Rudders with varying angle of attack over the height of the rudder blade, e.g. twisted rudders
-
- 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
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Abstract
The invention provides a wave glider flap auxiliary propulsion device which comprises a hydrofoil pitching motion mechanism and a trailing edge flap auxiliary adjusting mechanism. The hydrofoil pitching motion mechanism turns the hydrofoil arranged on the wave glider underwater tractor up and down by means of the up-and-down motion of the wave glider underwater tractor to generate forward thrust. The auxiliary adjusting mechanism for the trailing edge flap is positioned at the tail of the main hydrofoil and is rotated by the stepping motor to assist in adjusting the turning angle of the main hydrofoil. The invention aims at solving the problems that the advancing speed of the existing wave glider completely depends on sea conditions, and the auxiliary propeller has large propelling noise and high energy consumption. The auxiliary adjusting mechanism for the trailing edge flap of the main hydrofoil is added to assist in adjusting the equivalent attack angle of the main hydrofoil, the structure is simple, the noise is zero, the energy consumption is low, and the adaptability of the glider to different sea conditions is effectively improved.
Description
Technical Field
The invention relates to a flap-based wave glider auxiliary propulsion device, in particular to a flap auxiliary propulsion device of a wave glider, which can be applied to the field of ship auxiliary propulsion and solves the problem of weak maneuverability of the wave glider.
Background
Wave glider is as a neotype ocean robot, utilizes the submerged body hydrofoil to turn into the power that self gos forward with the wave energy, and the solar cell panel that the deck carried simultaneously supplies power for various ocean observation instruments, has long voyage, on a large scale, low cost etc. advantage, to marine environment monitoring and protection, fishery fishing, fields such as energy exploitation have important effect, have shown good application prospect in military and civilian field, have become one of each big research academy research focus in recent ten years. The forward thrust of the wave glider is completely derived from wave motion, the thrust of the wave glider is randomly changed due to the change of the marine environment, and the sailing speed is difficult to control manually.
The wave glider mainly comprises three parts, namely a surface ship, a connecting flexible cable and an underwater tractor. The underwater tractor is mainly designed and researched by passively overturning the hydrofoil installed on the underwater tractor to generate forward thrust for the whole device.
The swing attack angle of the hydrofoil has direct influence on the thrust conversion and the propulsion efficiency of the wave glider. The hydrofoils installed on the existing wave glider underwater tractor are all single control surfaces. When the underwater tractor wing panel is selected, a relatively optimal hydrofoil model can be achieved by adjusting the structural parameters of the wing profile. However, this type of hydrofoil is generally only adequate for achieving optimum performance under a given number of operating conditions. Under the long-time running condition of the wave glider, the wave condition state is random and greatly changed, and the prior design is difficult to achieve the best performance. Therefore, a technical solution is needed to improve the above technical problems.
Disclosure of Invention
In view of the drawbacks of the prior art, it is an object of the present invention to provide a variable angle of attack underwater tractor flap auxiliary propulsion device for a wave glider. The trailing edge flap mechanism is arranged for the main hydrofoil, a single control surface is changed into two control surfaces which move independently, the rotation angle of the trailing edge flap is controlled artificially, the equivalent attack angle of the main hydrofoil is further changed, the equivalent attack angle of the main hydrofoil is greatly changed, the thrust generated by the hydrofoil is controllable, and the purpose is to artificially control the speed of the wave glider, so that the working efficiency and the controllability are improved.
The purpose of the invention is realized as follows: the hydrofoil tail edge flap mechanism is arranged on the tail edge of the main hydrofoil, the hydrofoil tail edge flap mechanism changes the equivalent attack angle of the main hydrofoil, and the hydrofoil tail edge flap mechanism rotates within a range of-45 degrees to +45 degrees under the control; the hydrofoil trailing edge flap mechanism comprises a stepping motor arranged in the middle of the end part of the main hydrofoil, a light connecting rod swinging structure connected with an output shaft of the stepping motor and a flap connected with the light connecting rod swinging structure.
The invention also includes such structural features:
1. the hydrofoil main body is an NACA type symmetrical hydrofoil, and an angle sensor is arranged in the hydrofoil main body.
2. The width of the hydrofoil trailing edge flap mechanism is equal to or not less than 75% of the chord length of the main hydrofoil.
3. The hydrofoil trailing edge flap mechanism is in the shape of a flap rudder surface and is internally provided with an angle sensor.
4. In the starting stage of the wave glider, the trailing edge flap mechanism of the hydrofoil has the same angle with the main body of the hydrofoil or is within a small angle, and the upper surface and the lower surface of the hydrofoil and the upper surface and the lower surface of the main body of the hydrofoil only have small included angles, and the two forms a complete hydrofoil shape together; under the condition of low sea state, the energy of waves is not enough to enable the wave glider to obtain forward power and cannot be started, at the moment, the trailing edge flap is driven by the stepping motor to rotate, the maximum angle is 45 degrees, so that the hydrofoil of the underwater traction mechanism of the wave glider can capture enough energy, the hydrofoil can generate thrust, and the glider is driven to advance; in the advancing stage of the wave glider, the angle of the hydrofoil trailing edge flap mechanism is the same as the angle of the hydrofoil main body or within a smaller angle, and the stepping motor does not execute action before the controller does not send out a control command; when the speed of the wave glider needs to be increased, the controller estimates an equivalent angle required to be increased for the trailing edge flap according to the sea condition and the overturning angle of the main hydrofoil of the underwater traction mechanism, controls the motor to rotate, realizes a control command and achieves the effect of controlling acceleration; when the wave glider advances in a high sea state, if the speed of the glider needs to be reduced, the controller calculates the equivalent angle required to be reduced of the trailing edge flap according to the sea state and the overturning angle of the main hydrofoil of the underwater traction mechanism, the motor is controlled to rotate, a control command is realized, and the effect of controlling speed reduction is achieved.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the passive rotation of the hydrofoil of the underwater traction mechanism of the wave glider is changed into the active control with variable angle through the variable-angle flap auxiliary propulsion system of the underwater tractor, so that the active regulation and control of the attack angle of the hydrofoil can be realized, the thrust generated by the hydrofoil can be controlled, and the active control of the speed of the wave glider can be realized; according to the invention, through the flap adjusting system and the angle sensing unit, higher adaptability of the wave glider to wave conditions can be realized, so that the maximum capture of wave energy is achieved.
Drawings
FIG. 1 is a schematic view of a variable angle flap booster propulsion system for a wave glider;
FIG. 2 is a schematic view of a flap rocking configuration;
FIG. 3 is a schematic view of the working principle of the variable angle flap auxiliary propulsion device of the wave glider;
description of the numbering: the hydrofoil comprises a hydrofoil main body 1, a hydrofoil trailing edge flap 2, a stepping motor 3, a light connecting rod swinging structure 4 and a stepping motor shaft 5.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention can comprise three parts of a surface ship, a flexible cable and an underwater tractor, wherein the surface floating body ship is connected with the flexible cable which is connected with the underwater tractor; the underwater tractor comprises a hydrofoil pitching motion mechanism and a trailing edge flap auxiliary adjusting mechanism; the hydrofoil pitching motion mechanism comprises a hydrofoil, a hydrofoil attack angle detection sensor, a fixed rotating shaft, a motion shaft, a spring and a spring connecting pin, wherein the hydrofoil winds the fixed rotating shaft to perform pitching motion, and the spring provides a restoring moment of the pitching motion. The flap auxiliary adjusting mechanism comprises a flap, a flap attack angle detection sensor and a stepping motor.
Referring to fig. 1 to 3, the variable-angle flap auxiliary propulsion system structure for the wave glider of the present invention is shown in fig. 1, and is mainly divided into a hydrofoil main body 1 and a hydrofoil trailing edge flap mechanism 2. The hydrofoil trailing edge flap mechanism 2 is connected to the trailing edge of the hydrofoil main body 1 through a rotatable stepping motor 3, the angle of a suitable trailing edge flap device can be automatically adjusted according to the rotation angle of the hydrofoil, and a light connecting rod swinging structure 4 on an output shaft of the stepping motor and the trailing edge flap are fixed through bolts and rotate along with the motor.
The hydrofoil trailing edge flap mechanism is arranged at the trailing edge of the main hydrofoil, and can change the equivalent attack angle of the main hydrofoil; the hydrofoil main body is an NACA type symmetrical hydrofoil, and an angle sensor is arranged in the hydrofoil main body. The hydrofoil trailing edge flap mechanism is in the shape of a flap rudder surface, an angle sensor is arranged in the hydrofoil trailing edge flap mechanism, and the width of the hydrofoil trailing edge flap mechanism is equal to or not less than 75% of the chord length of the main hydrofoil. The hydrofoil trailing edge flap mechanism is hinged with the main body of the hydrofoil, and the hydrofoil trailing edge flap mechanism rotates within a range of-45 degrees to +45 degrees under the control. The flap is driven to rotate by a stepping motor, and an output shaft of the motor is connected with the light connecting rod. The stepping motor is fixed at the position, close to the tail edge, in the middle of the solid blade, and the front end of the light connecting rod swing structure is in smooth contact with the inner surface of the flap and is directly fixed with the flap by using a bolt.
The working principle is as follows:
in the starting stage of the wave glider, the trailing edge flap mechanism of the hydrofoil has the same angle with the main body of the hydrofoil or is within a smaller angle, and the upper surface and the lower surface of the hydrofoil and the upper surface and the lower surface of the main body of the hydrofoil only have a smaller included angle, and the two forms a complete hydrofoil shape together. Under the condition of low sea state, the energy of waves is not enough to enable the wave glider to obtain forward power and cannot be started, at the moment, the trailing edge flap is driven by the stepping motor to rotate, the maximum angle is 45 degrees, the hydrofoil of the underwater wave glider traction mechanism can capture enough energy, the hydrofoil can generate thrust, and the glider is driven to advance.
In the advancing stage of the wave glider, the trailing edge flap mechanism of the hydrofoil is the same with the angle of the main body of the hydrofoil or within a smaller angle, and the stepping motor does not execute action before the controller sends out no control command. When the speed of the wave glider needs to be increased, the controller estimates the equivalent angle required to be increased of the trailing edge flap according to the sea condition and the overturning angle of the main hydrofoil of the underwater traction mechanism, the motor is controlled to rotate, a control command is realized, and the effect of controlling the speed increase is achieved.
When the wave glider advances in a high sea state, if the speed of the glider needs to be reduced, the controller calculates the equivalent angle required to be reduced of the trailing edge flap according to the sea state and the overturning angle of the main hydrofoil of the underwater traction mechanism, the motor is controlled to rotate, a control command is realized, and the effect of controlling speed reduction is achieved.
The purpose of the hydrofoil trailing edge flap device in the design is as follows: the forward power of the wave glider completely depends on sea conditions, the wave glider is energy-saving, environment-friendly and low in noise, and the propulsion performance of the wave glider can be greatly improved by further changing the structure of the hydrofoil under the condition of ensuring the advantages of energy conservation and low noise. Under the working condition of small attack angle of the hydrofoil of the underwater traction mechanism, if the speed of the wave glider is required to be improved, the trailing edge flap is controlled to rotate so as to increase the integral equivalent attack angle of the hydrofoil, so that the thrust generated by the hydrofoil is increased, and the speed of the glider is increased; under the large angle of attack operating mode of underwater drive mechanism hydrofoil, if want to reduce wave glider speed, control trailing edge flap to rotate to reduce the whole equivalent angle of attack of hydrofoil, reduce the thrust that the hydrofoil produced, thereby reduce glider speed.
In summary, the invention relates to a wave glider flap auxiliary propulsion device, a hydrofoil pitching motion mechanism and a trailing edge flap auxiliary adjusting mechanism. The hydrofoil pitching motion mechanism turns the hydrofoil arranged on the wave glider underwater tractor up and down by means of the up-and-down motion of the wave glider underwater tractor to generate forward thrust. The auxiliary adjusting mechanism for the trailing edge flap is positioned at the tail of the main hydrofoil and is rotated by the stepping motor to assist in adjusting the turning angle of the main hydrofoil. The invention aims at solving the problems that the advancing speed of the existing wave glider completely depends on sea conditions, and the auxiliary propeller has large propelling noise and high energy consumption. The auxiliary adjusting mechanism for the trailing edge flap of the main hydrofoil is added to assist in adjusting the equivalent attack angle of the main hydrofoil, the structure is simple, the noise is zero, the energy consumption is low, and the adaptability of the glider to different sea conditions is effectively improved.
Claims (5)
1. A supplementary advancing device of wave glider flap, includes main hydrofoil, its characterized in that: the hydrofoil tail edge flap mechanism is arranged on the tail edge of the main hydrofoil, the hydrofoil tail edge flap mechanism changes the equivalent attack angle of the main hydrofoil, and the hydrofoil tail edge flap mechanism rotates within a range of-45 degrees to +45 degrees under the control; the hydrofoil trailing edge flap mechanism comprises a stepping motor arranged in the middle of the end part of the main hydrofoil, a light connecting rod swinging structure connected with an output shaft of the stepping motor and a flap connected with the light connecting rod swinging structure.
2. A wave glider flap auxiliary propulsion device according to claim 1, characterized in that: the hydrofoil main body is an NACA type symmetrical hydrofoil, and an angle sensor is arranged in the main hydrofoil.
3. A wave glider flap auxiliary propulsion device according to claim 1, characterized in that: the width of the hydrofoil trailing edge flap mechanism is equal to or not less than 75% of the chord length of the main hydrofoil.
4. A wave glider flap auxiliary propulsion device according to claim 1, characterized in that: the hydrofoil trailing edge flap mechanism is in the shape of a flap rudder surface and is internally provided with an angle sensor.
5. The wave glider flap auxiliary propulsion device according to any one of claims 1-4, characterized in that: in the starting stage of the wave glider, the trailing edge flap mechanism of the hydrofoil has the same angle with the main body of the hydrofoil or is within a small angle, and the upper surface and the lower surface of the hydrofoil and the upper surface and the lower surface of the main body of the hydrofoil only have small included angles, and the two forms a complete hydrofoil shape together; under the condition of low sea state, the energy of waves is not enough to enable the wave glider to obtain forward power and cannot be started, at the moment, the trailing edge flap is driven by the stepping motor to rotate, the maximum angle is 45 degrees, so that the hydrofoil of the underwater traction mechanism of the wave glider can capture enough energy, the hydrofoil can generate thrust, and the glider is driven to advance; in the advancing stage of the wave glider, the trailing edge flap mechanism of the hydrofoil is the same with the angle of the main body of the hydrofoil or within a smaller angle, and the stepping motor does not execute action before the controller sends out a control command; when the speed of the wave glider needs to be increased, the controller estimates the equivalent angle required to be increased of the trailing edge flap according to the sea condition and the overturning angle of the main hydrofoil of the underwater traction mechanism, controls the motor to rotate, realizes a control command and achieves the effect of controlling the acceleration; when the wave glider advances in a high sea state, if the speed of the glider needs to be reduced, the controller calculates the equivalent angle required to be reduced of the trailing edge flap according to the sea state and the overturning angle of the main hydrofoil of the underwater traction mechanism, the motor is controlled to rotate, a control command is realized, and the effect of controlling speed reduction is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210348839.9A CN114852301A (en) | 2022-04-01 | 2022-04-01 | Auxiliary propulsion device for flap of wave glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210348839.9A CN114852301A (en) | 2022-04-01 | 2022-04-01 | Auxiliary propulsion device for flap of wave glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114852301A true CN114852301A (en) | 2022-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210348839.9A Pending CN114852301A (en) | 2022-04-01 | 2022-04-01 | Auxiliary propulsion device for flap of wave glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114852301A (en) |
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| CN102336247A (en) * | 2010-07-21 | 2012-02-01 | 中国船舶重工集团公司第七○四研究所 | Wing flap fishtail fin |
| CN103318378A (en) * | 2013-07-02 | 2013-09-25 | 哈尔滨工程大学 | Longitudinal movement attitude control device for catamaran |
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| CN109533281A (en) * | 2018-11-26 | 2019-03-29 | 武汉科技大学 | A kind of aircraft flap rotating device based on oscillating oil cylinder |
| CN211592909U (en) * | 2019-12-04 | 2020-09-29 | 江西洪都航空工业集团有限责任公司 | Retractable wing flap auxiliary high lift device |
| CN112160864A (en) * | 2020-10-28 | 2021-01-01 | 山东科技大学 | Classic inhibition formula wind turbine blade structure and inhibition system that flutters |
| CN212928060U (en) * | 2020-07-01 | 2021-04-09 | 山东科技大学 | Active control wind turbine blade trailing edge flap structure based on hydraulic drive |
| CN214376011U (en) * | 2021-03-09 | 2021-10-08 | 西安鹰之航航空科技股份有限公司 | Flap position control device test system |
-
2022
- 2022-04-01 CN CN202210348839.9A patent/CN114852301A/en active Pending
Patent Citations (15)
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| JP2933274B1 (en) * | 1998-02-16 | 1999-08-09 | 株式会社コミュータヘリコプタ先進技術研究所 | Flap drive for rotor blades |
| CN102336247A (en) * | 2010-07-21 | 2012-02-01 | 中国船舶重工集团公司第七○四研究所 | Wing flap fishtail fin |
| CN103318378A (en) * | 2013-07-02 | 2013-09-25 | 哈尔滨工程大学 | Longitudinal movement attitude control device for catamaran |
| CN104925241A (en) * | 2015-06-11 | 2015-09-23 | 江苏科技大学 | Retractable airfoil-shaped sail with double tail flaps |
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