CN114906286A - Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint - Google Patents
Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint Download PDFInfo
- Publication number
- CN114906286A CN114906286A CN202210287296.4A CN202210287296A CN114906286A CN 114906286 A CN114906286 A CN 114906286A CN 202210287296 A CN202210287296 A CN 202210287296A CN 114906286 A CN114906286 A CN 114906286A
- Authority
- CN
- China
- Prior art keywords
- sail
- rope
- rigid
- elastic rope
- angle
- Prior art date
- 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
Links
- 230000008602 contraction Effects 0.000 claims abstract description 5
- 230000002146 bilateral effect Effects 0.000 claims abstract description 3
- 229910052741 iridium Inorganic materials 0.000 claims description 10
- GKOZUEZYRPOHIO-UHFFFAOYSA-N iridium atom Chemical compound [Ir] GKOZUEZYRPOHIO-UHFFFAOYSA-N 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims 1
- 230000001141 propulsive effect Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035899 viability Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
- B63H9/061—Rigid sails; Aerofoil sails
- B63H9/0621—Rigid sails comprising one or more pivotally supported panels
- B63H9/0635—Rigid sails comprising one or more pivotally supported panels the panels being pivotable about vertical axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/08—Connections of sails to masts, spars, or the like
- B63H9/10—Running rigging, e.g. reefing equipment
- B63H9/1007—Trapeze systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Toys (AREA)
Abstract
The invention discloses an unmanned vehicle driven by a sail angle self-balancing sail based on elastic rope constraint, belonging to the technical field of unmanned marine vehicles, and comprising a rigid sail and a hull, wherein the bottom of the rigid sail is arranged on the hull through a sail shaft, and the rigid sail rotates by taking the sail shaft as a shaft, and the unmanned vehicle is characterized in that: the sail rope type ship comprises sail ropes which are arranged on two sides of a central axis of a ship shell in a bilateral symmetry mode, one end of each sail rope is connected with the rigid sail, the other end of each sail rope is connected with the ship shell, and each sail rope has contraction elasticity; the sail rope is straightened by the rigid sail through rotating around the sail shaft in an inelastic free state, and the sail angle beta of the rigid sail is beta 0 . The unmanned aircraft can interact with wind by means of the extension elasticity of the elastic rope under the condition of no power consumptionThe sail aerodynamic force is self-balanced, so that the purpose of adjusting and controlling the sail angle is achieved, the range of non-sailing intervals under the condition of upwind is reduced, and the propulsive force obtained under the condition of downwind is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned marine vehicles, and particularly relates to an unmanned marine vehicle driven by a sail angle self-balancing sail based on elastic rope constraint.
Background
The sail driving technology realizes navigation propulsion of ships and unmanned aircrafts by means of sea surface natural wind energy, obviously reduces navigation energy consumption, and can obviously improve endurance and self-sustaining force of the unmanned aircrafts in the ocean. The sail driving technology has two important performances, namely an upwind non-sailing region range and a propulsion force obtained under a downwind condition.
In the early days, the unmanned aircraft adopts a simpler scheme of fixing the sail turning angle, namely the mounting position of the sail is fixed and unchanged, and the aerodynamic attack angle of the sail changes randomly under the conditions of uncertain wind direction, wind speed and course. However, the sail of this solution cannot be maintained continuously in the optimum aerodynamic characteristics, and the sail driving performance is poor.
In recent years, unmanned vehicles mostly adopt a sail angle active regulation and control technical approach to achieve better sail driving performance under uncertain wind direction, wind speed and course conditions, namely, according to wind direction and wind speed information acquired by a meteorological sensor and combined with a target course, a central control system calculates a sail angle which maximizes aerodynamic force acquisition and drives a sail executing mechanism to act. However, the active sail angle regulation and control technology has many defects such as high energy consumption of sail turning, complex sail turning execution mechanism, heavy load, poor weather resistance, low viability under high sea conditions, and the like. Therefore, the active regulation and control technology approach of the sail turning angle is not suitable for small and medium-sized unmanned aircrafts with limited load capacity and low energy consumption level. Therefore, it is necessary to develop a driving technique for a sail suitable for an unmanned vehicle without actively controlling the sail angle.
Disclosure of Invention
The invention aims to solve the technical bottleneck of active sail turning regulation and control of sail driving, and provides an unmanned aircraft driven by a sail angle self-balancing sail based on elastic rope constraint. Under the condition of no power consumption, the unmanned aircraft realizes self-balancing with the aerodynamic force of the sail by means of the extension elasticity of the elastic rope, so that the purpose of adjusting and controlling the sail turning angle is achieved, the range of the non-sailing region under the condition of headwind is shortened, and the propulsive force obtained under the condition of tailwind is improved.
The invention is realized in such a way that the unmanned vehicle driven by the sail with the self-balancing of the sail angle based on the constraint of the elastic rope comprises a rigid sail and a hull, wherein the bottom of the rigid sail is arranged on the hull through a sail shaft, and the rigid sail rotates by taking the sail shaft as an axis, and is characterized in that: the sail rope type ship comprises sail ropes which are arranged on two sides of a central axis of a ship shell in a bilateral symmetry mode, one end of each sail rope is connected with the rigid sail, the other end of each sail rope is connected with the ship shell, and each sail rope has contraction elasticity; the sail rope is straightened by the rigid sail through rotating around the sail shaft in an inelastic free state, and the sail angle beta of the rigid sail is beta 0 。
In the above technical solution, preferably, the sail rope is composed of an elastic rope and a non-elastic rope, one end of the non-elastic rope is connected to the rigid sail, the other end of the non-elastic rope is connected to one end of the elastic rope, and the other end of the elastic rope is connected to the hull.
In the above technical solution, preferably, rollers are symmetrically installed on both sides of the hull, and the sail rope bypasses the rollers from the outside and forms a steering angle from the outside to the inside.
In the above technical solution, preferably, a buckle is installed on the inelastic rope, and the elastic rope contracts to enable the buckle to abut against the roller.
In the above technical solution, preferably, the rigid sail is a sail of an NACA0010 airfoil, and the rigid sail is a trapezoid.
In the above technical solution, preferably, a balance bar is disposed at a lower portion of the rigid sail, and the balance bar is connected to the sail shaft and extends forward of the rigid sail in a direction perpendicular to the sail shaft.
In the above technical solution, preferably, the balance bar is provided with a weight portion.
In the above technical solution, preferably, the hull includes an upper hull and a lower hull, the middle of the upper hull and the lower hull is provided with a sealing rubber sheet, and the upper hull and the lower hull are connected to form a sealed cabin. The unmanned aircraft adopts the scheme that the upper hull and the lower hull are fastened by circumferentially arranged bolts to form the closed cabin. The cabin of the scheme is of a shell type structure, and has excellent water seepage prevention performance, good sinking resistance and strong viability under high sea conditions.
In the above technical solution, preferably, a balance plate is fixed to the bottom of the lower hull, a counterweight is mounted on the balance plate, and a tail rudder is mounted at the end of the balance plate through a hinge.
In the above technical scheme, preferably, the hull is provided with a control box, an iridium communication module, a main control module, a solar panel, a lithium battery, an antenna mast, a meteorological station, an iridium antenna and a steering engine for driving the tail rudder. Besides the rigid sail obtains the sailing propelling force, the solar panel captures electric energy, and electric appliances in the aircraft only relate to a control module, a communication module, a meteorological station and a steering engine. The navigation propulsion and the self-sustaining power consumption of the aircraft can be completely self-supplied by natural energy (wind energy and solar energy).
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. according to the self-balancing device, only two sailing ropes with contraction elasticity are symmetrically arranged at the top of the hull of the unmanned aircraft, self-balancing of the aerodynamic force of the sail under the condition of uncertain wind fields is achieved by means of the extension elasticity of the sailing ropes, and self-adjustment of the sail angle is achieved without an additional sail movement executing mechanism. Compared with the technical approach of active regulation and control of the sail angle, the invention obviously simplifies the regulation and control system of the sail angle, only two sail ropes with contractibility and elasticity and a small number of connecting parts are needed for regulation and control, and the regulation and control action of the sail angle is zero power consumption.
2. Compared with the scheme of fixing the sail turning angle, the scheme of the driving scheme of the self-balancing sail of the turning angle based on the elastic rope constraint has the advantages that the obtained aircraft propulsion is larger under the same initial sail turning angle condition; under the condition of obtaining the same propelling force, the upwind non-sailing range is smaller.
3. The self-balancing sail driving scheme provided by the invention can obviously simplify an electric control and energy system of the unmanned aircraft, and greatly reduce the power consumption level of the unmanned aircraft.
Drawings
FIG. 1a is a schematic view of a vehicle configuration of the present invention;
FIG. 1b is a schematic view of the interior of the aircraft according to the invention;
FIG. 2 is a schematic view of a sail shaft of the present invention;
FIG. 3 is a schematic side force view of the present invention;
FIG. 4 is a driving schematic diagram of the self-balanced sail with a sail angle based on elastic rope constraint according to the present invention;
FIG. 5 is a graph of the results of aerodynamic propulsion as a function of relative wind angle of the aircraft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the technical bottleneck of active sail turning regulation and control of sail driving, the unmanned vehicle driven by the sail angle self-balancing sail based on elastic rope constraint is provided. Under the condition of no power consumption, the unmanned aircraft realizes self-balancing with the aerodynamic force of the sail by means of the extension elasticity of the elastic rope, so that the purpose of adjusting and controlling the sail turning angle is achieved, the range of the non-sailing region under the condition of headwind is shortened, and the propulsive force obtained under the condition of tailwind is improved. To further illustrate the structure of the present invention, the following detailed description is made with reference to the accompanying drawings:
referring to fig. 1 and fig. 2, the unmanned vehicle driven by a sail with a self-balanced sail angle based on elastic rope constraint provided by the present invention mainly includes: the self-balancing solar energy wind sail comprises a rigid wind sail 1, a hull 2, a self-balancing plate 3, a tail rudder 4, a balancing weight 5, an antenna mast 6, a meteorological station 7, an iridium antenna 8 and a solar panel 9.
As shown in fig. 1, the hull 2 includes two parts, an upper hull 2a and a lower hull 2b, and the upper hull 2a and the lower hull 2b are made of glass fiber reinforced plastic material by integral molding. A layer of sealing rubber 17 is clamped between the upper hull 2a and the lower hull 2b, and bolts are tightly and uniformly distributed along the circumferential direction of the hull 2 to close, lock and seal, so that a sealed cabin is formed, the survival capability of the hull 2 under severe sea conditions is enhanced, and the collision of sea ice or floating fragments is resisted. The solar panels 9 are mounted on the upper hull 2 a. The top of the upper hull 2a is a plane to expand the paving area of the solar panel 9.
As shown in fig. 1 and 2, the rigid sail 1 is located on the upper side of the head of the upper hull 2a, and is formed by weaving carbon fibers to form a sail with an NACA0010 airfoil shape, and the sail surface is trapezoidal to reduce the center of mass of the sail surface. The bearing 20 is embedded in a sail shaft support seat 21 located at the head of the upper hull 2a, and the sail shaft 18 at the bottom of the rigid sail 1 is inserted in the center of the bearing 20 and is rotatable about the rotation axis Z.
As shown in fig. 1, the balance bar 19 is vertically fixed to the sail shaft 18, the front end of the balance bar 19 extends out of the head of the hull 2, and the balance bar 19 extends to the right front of the rigid sail 1. The position of the mass center of the rigid sail 1 is G 1 The center of mass of the balance bar 19 is G 2 Respectively positioned at both sides of the rotating shaft Z. The axis Z' of the integral moment of inertia of the sail is coincident with the axis Z of the rotating shaft by adjusting the counterweight body at the front end of the balance rod 19. The angle of rotation of the rigid sail 1 about the axis of rotation Z is called the sail angle β.
As shown in fig. 1, a single-hole hanging ring 10 is embedded at the bottom of the rigid sail 1, two rollers 11 are respectively installed at the middle positions of the top ends of the port and starboard sides of the upper hull 2a, and two lifting lugs 12 are installed at the rear parts of the top ends of the port and starboard sides of the upper hull 2 a. Two telescopic elastic sailing ropes 14 are respectively connected with the lifting lug 12 after bypassing the roller 11 from the single-hole lifting ring 10 in sequence. The tail ends of the two sailing ropes 14 are connected with a sailing rope hook 13, and the sailing rope hook 13 is sleeved with the single-hole hanging ring 10, so that the connection between the sailing ropes 14 and the rigid sail 1 is realized. The other ends of the two sailing ropes 14 are respectively sleeved with the lifting lugs 12 on the left side and the right side of the ship. In addition, the roller 11 guides the sail rope 14, so that the sail rope 14 forms a turning angle towards the inner side of the hull 2.
As shown in fig. 1, the sail string 14 is composed of two sections of an elastic string 14a and a non-elastic string 14b, and the elastic string 14a and the non-elastic string 14b are connected by a sail string connecting buckle 16 to form the whole section of the sail string 14. The non-elastic cord 14b is provided with a buckle 15. The buckle 15 and the roller 11 together form a limit node for limiting the retraction length of the elastic cord 14 a. When the rigid sail 1 does not exert a pulling force on the non-elastic rope 14b, the buckle 15 is pulled by the elastic rope 14a to abut against the roller 11.
As shown in fig. 3, the balance plate 3 is located at the lower part of the central axis of the aircraft and is fixedly connected with the lower hull 2b, the counterweight 5 is installed at the bottom of the balance plate 3 to reduce the height of the overall center of gravity of the aircraft and balance the side-tipping force F of the wind acting on the rigid sail 1 C The presence of the balance plate 3 and the counterweight 5 allows to significantly reduce the aircraft roll angle σ, preventing the aircraft from overturning.
The control box 22 is positioned at a groove at the top of the upper hull 2a, comprises an iridium communication module 23, a main control module 24 and a solar control module 25, and is connected to each electric control group component of the aircraft through a watertight cable. The solar panels 9 capture light energy and convert it to electrical energy for storage in lithium batteries 29, which in turn supply the entire ship. The antenna mast 6 is positioned at the tail part of the hull 2a and is provided with a meteorological station 7 and an iridium antenna 8. The meteorological station 7 acquires field information such as sea surface wind direction, wind speed, temperature and humidity, atmospheric pressure, geographic position, course and the like, the iridium communication module and the iridium antenna 8 realize the remote communication function of the aircraft, and transmit data back to the shore station and receive command and control information. The installation positions of the control box, the iridium communication module, the main control module, the solar control module, the lithium battery and other components can be specifically arranged according to the space design in the aircraft, and are not limited herein.
As shown in figure 1, the tail vane 4 is installed at the tail end of the balance plate 3 through a hinge 30, a steering engine 26 is installed in the hull 2, the steering engine 26 is connected with a transmission shaft 27 through a steering engine support shaft 28, and the transmission shaft 27 drives the tail vane 4 to rotate through the hinge 30, so that the heading correction function of the aircraft is realized.
The driving working principle and process of the sail angle self-balancing sail based on elastic rope constraint of the invention are as follows:
s1: in a critical state, as shown in fig. 4a, the elastic cord 14a is under initial tension under the limiting action of the buckle 15Length, the inelastic string 14b is in a critical state of straightening and relaxing, and the sail angle β of the rigid sail 1 is at β 0 The starting critical position of (c).
S2: as shown in FIG. 4b, in the windless state, the elastic cord 14a is limited by the sail buckle 15 to an initial extension length l 0 And the inelastic string 14b is in the relaxed state of being not straightened, the sail angle beta of the rigid sail 1 can be within the range of +/-beta of the starboard starting critical position and the port starting critical position 0 The space is free to rotate.
S3: as shown in fig. 4c, in the windy state, the aerodynamic center N of the rigid sail 1 is subjected to a resistance F in the wind direction D Lift force F perpendicular to the same wind direction L Two aerodynamic forces act. Because the distance s exists between the aerodynamic center N and the rotating shaft Z, the resistance F D And lift force F L Generating a pneumatic moment M driving the rigid sail 1 to rotate about the axis of rotation Z LD . At the aerodynamic moment M LD Under the action of the force, the sail angle beta is increased and exceeds beta 0 The critical position of (c). When the sail angle beta is larger than beta 0 Thereafter, the inelastic string 14b is straightened out, simultaneously stretching the elastic string 14a by Δ l and producing a string elastic force F T Rigid sail 1 at aerodynamic moment M LD With rope elasticity F T Moment M of rotating shaft Z T Self-balancing under action, the rotating angle beta of the rigid sail 1 is beta 0 The + Δ β position. When the wind speed and wind direction conditions change relative to the rigid sail 1, the elongation delta l of the elastic rope 14a is along with the resistance F D Lifting force F L Readjust to realize pneumatic moment M LD Again self-balancing with the moment MT.
Resistance F D Lifting force F L Elastic force of rope F T As shown in formulas (1), (2) and (3), where ρ is the air density, S is the sail side surface area, C L Is a coefficient of lift, C D The drag coefficient, v the wind speed, and k the elastic modulus of the rope.
F T ＝k·Δl (3)
As shown in fig. 4c, the aerodynamic drag force F D And lift force F L Component along the aircraft axis X as propulsion F of the aircraft P Component along the vehicle axis Y being the vehicle roll force F C . Wherein, the relative wind direction angle omega of the aircraft is an included angle between the true wind direction and the axis X of the aircraft. Propulsive force F P With side force F C As shown in formulas (4) and (5).
F P ＝F D cosω-F L sinω (4)
F C ＝F D sinω+F L sinω (5)
FIG. 5 shows the pneumatic propulsion force F P As a result of the relative wind angle ω of the aircraft. Through comparison, under the condition of the same relative wind direction angle omega of the aircraft, the moment M exerted by the elastic rope 14a exists T With pneumatic moment M LD From self-balancing, the sail angle beta of the invention is from the initial position beta 0 Increase to beta 0 + Δ β. From the analysis of the results in FIG. 5, for a fixed sail angle solution, the sail angle β is set as a function of the set sail angle 0 Increase the propulsive force F P The upwind non-sailing area is gradually enlarged; the self-balancing sail with the sail angle based on elastic rope constraint has the same initial sail angle beta 0 Obtaining larger aircraft propulsion force F under the condition P (ii) a While obtaining the same propelling force F P Under the condition, the range of the upwind non-navigation region is smaller.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The unmanned vehicle driven by the aid of the self-balancing sailing angle based on elastic rope constraint comprises a rigid sail (1) and a hull (2), wherein the bottom of the rigid sail (1)-said rigid sail (1) is rotatable about a sail axis (18) mounted on said hull (2) by means of a sail axis (18), characterized in that: the sail rope type wind power generation device comprises sail ropes (14) which are arranged on two sides of a central axis of a hull (2) in a bilateral symmetry mode, one end of each sail rope (14) is connected with a rigid sail (1), the other end of each sail rope (14) is connected with the hull (2), and each sail rope (14) has contraction elasticity; the sail rope (14) is straightened by the rigid sail (1) through rotating around the sail shaft (18) in an inelastic free state, and the sail angle beta of the rigid sail (1) is beta 0 。
2. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle according to claim 1, wherein: the sail rope (14) is composed of an elastic rope (14a) and a non-elastic rope (14b), one end of the non-elastic rope (14b) is connected with the rigid sail (1), the other end of the non-elastic rope (14b) is connected with one end of the elastic rope (14a), and the other end of the elastic rope (14a) is connected with the hull (2).
3. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle as claimed in claim 2, wherein: the two sides of the ship shell (2) are symmetrically provided with rollers (11), and the sailing ropes (14) bypass the rollers (11) from the outer side and form a steering angle from the outer side to the inner side.
4. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle as claimed in claim 3, wherein: a buckle (15) is arranged on the non-elastic rope (14b), and the contraction elasticity of the elastic rope (14a) enables the buckle (15) to abut against the roller (11).
5. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle according to claim 4, wherein: the rigid sail (1) is a sail of an NACA0010 airfoil profile, and the rigid sail (1) is trapezoidal.
6. The unmanned vehicle with self-balanced sail and capable of achieving sail angle based on elastic rope constraint as claimed in claim 5, wherein: and a balance rod (19) is arranged at the lower part of the rigid sail (1), and the balance rod (19) is connected with the sail shaft (18) and extends to the front of the rigid sail (1) along the direction vertical to the sail shaft (18).
7. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle according to claim 6, wherein: and a balance weight part is arranged on the balance rod (19).
8. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle according to claim 1, wherein: the ship shell (2) comprises an upper ship shell (2a) and a lower ship shell (2b), a sealing rubber sheet (17) is arranged between the upper ship shell (2a) and the lower ship shell (2b), and the upper ship shell (2a) and the lower ship shell (2b) are connected and form a closed cabin.
9. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle as claimed in claim 8, wherein: the bottom of lower hull (2b) is fixed balance plate (3), install balancing weight (5) on balance plate (3), tail vane (4) are installed through hinge (30) to the end of balance plate (3).
10. The elastic rope constraint-based sail angle self-balancing unmanned aerial vehicle according to claim 9, wherein: the ship shell (2) is provided with a control box (22), an iridium communication module (23), a main control module (24), a solar control module (25), a solar panel (9), a lithium battery (29), an antenna rod (6), a meteorological station (7), an iridium antenna (8) and a steering engine (26) for driving the tail rudder (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210287296.4A CN114906286A (en) | 2022-03-22 | 2022-03-22 | Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210287296.4A CN114906286A (en) | 2022-03-22 | 2022-03-22 | Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114906286A true CN114906286A (en) | 2022-08-16 |
Family
ID=82763809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210287296.4A Pending CN114906286A (en) | 2022-03-22 | 2022-03-22 | Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114906286A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382860A (en) * | 2023-12-12 | 2024-01-12 | 武汉理工大学三亚科教创新园 | Passive sail rotation control device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6718898B1 (en) * | 2002-09-23 | 2004-04-13 | Anderson Thomas L | Shock absorber sailing system |
| DE202004006470U1 (en) * | 2004-04-23 | 2004-07-29 | Schiszler, Achim | Protective device for knots in kite lines is an elastic sleeve which is spreadable by a tool or is slidable along kite lines |
| EP2042424A1 (en) * | 2007-09-27 | 2009-04-01 | François Naslin | Hybrid sailboard/centre-board sailing craft equipped with an anchor mast that can tilt simultaneously in the transverse and longitudinal planes |
| CN107085399A (en) * | 2017-05-27 | 2017-08-22 | 上海海事大学 | Mainsail automaton and maximum ship's speed tracking and Learning Control Method |
| CN211568242U (en) * | 2020-02-11 | 2020-09-25 | 中国科学院沈阳自动化研究所 | Unmanned sailing boat for marine environment observation |
| CN111717356A (en) * | 2020-06-29 | 2020-09-29 | 郑州仿弦新材料科技有限公司 | Sail angle control system and wind power carrier |
-
2022
- 2022-03-22 CN CN202210287296.4A patent/CN114906286A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6718898B1 (en) * | 2002-09-23 | 2004-04-13 | Anderson Thomas L | Shock absorber sailing system |
| DE202004006470U1 (en) * | 2004-04-23 | 2004-07-29 | Schiszler, Achim | Protective device for knots in kite lines is an elastic sleeve which is spreadable by a tool or is slidable along kite lines |
| EP2042424A1 (en) * | 2007-09-27 | 2009-04-01 | François Naslin | Hybrid sailboard/centre-board sailing craft equipped with an anchor mast that can tilt simultaneously in the transverse and longitudinal planes |
| CN107085399A (en) * | 2017-05-27 | 2017-08-22 | 上海海事大学 | Mainsail automaton and maximum ship's speed tracking and Learning Control Method |
| CN211568242U (en) * | 2020-02-11 | 2020-09-25 | 中国科学院沈阳自动化研究所 | Unmanned sailing boat for marine environment observation |
| CN111717356A (en) * | 2020-06-29 | 2020-09-29 | 郑州仿弦新材料科技有限公司 | Sail angle control system and wind power carrier |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382860A (en) * | 2023-12-12 | 2024-01-12 | 武汉理工大学三亚科教创新园 | Passive sail rotation control device |
| CN117382860B (en) * | 2023-12-12 | 2024-02-09 | 武汉理工大学三亚科教创新园 | Passive sail rotation control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10871149B2 (en) | Floating marine wind turbine | |
| US7750491B2 (en) | Fluid-dynamic renewable energy harvesting system | |
| AU2008249241B2 (en) | Coaxial multi-rotor wind turbine | |
| EP1407139B1 (en) | Coaxial multi-rotor wind turbine | |
| US20080185480A1 (en) | Ultralight Airfoils for Wind Energy Conversion | |
| US20070120005A1 (en) | Aerial wind power generation system | |
| CZ201787A3 (en) | A non-volume fluid machine | |
| WO2013081938A1 (en) | Airborne wind energy conversion system with fast motion transfer | |
| WO2021248268A1 (en) | Variable-configuration, dual-navigation-state, long-voyage unmanned marine vehicle driven by natural environment fluid | |
| US10310516B2 (en) | Systems and methods for yaw control of offshore platform | |
| CN114906286A (en) | Unmanned navigation ware of commentaries on classics sail angle self-balancing sail drive based on elastic cord restraint | |
| CN109606577A (en) | A kind of marine environmental monitoring green energy resource small-waterplane-area binary unmanned boat | |
| US7861973B1 (en) | Wind responsive power generation system | |
| US10633058B1 (en) | Sailing wing | |
| JPH05236698A (en) | Water surface sailing power generating device | |
| WO2010087600A2 (en) | Natural force-converting system | |
| CN111762306A (en) | Hybrid-drive underwater glider with ring wings | |
| CN105781898A (en) | High-altitude thermal wing airship wind power generation system | |
| JP3867138B2 (en) | Propeller distributed soft airship | |
| US20230349352A1 (en) | Floating vessel for energy harvesting | |
| CN114802749A (en) | Water traction type over-the-horizon detection and communication system and use method | |
| CN114644112A (en) | Empty dual-purpose unmanned aerial vehicle of water | |
| CN114030585A (en) | High-attendance-rate stratospheric airship comprehensive flight layout | |
| CN110844029A (en) | Underwater four-rotor aircraft | |
| CN211642566U (en) | Underwater four-rotor aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |