CN117048811A - Frame type glider and control method thereof - Google Patents
Frame type glider and control method thereof Download PDFInfo
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- CN117048811A CN117048811A CN202311039200.3A CN202311039200A CN117048811A CN 117048811 A CN117048811 A CN 117048811A CN 202311039200 A CN202311039200 A CN 202311039200A CN 117048811 A CN117048811 A CN 117048811A
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- Prior art keywords
- glider
- frame
- boat body
- control system
- rotatable
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- 238000000034 method Methods 0.000 title claims description 8
- 238000007667 floating Methods 0.000 claims abstract description 17
- 239000007788 liquid Substances 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 230000001276 controlling effect Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 7
- 239000013535 sea water Substances 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000009189 diving Effects 0.000 claims description 2
- 239000011257 shell material Substances 0.000 claims 9
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002498 deadly effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/08—Propulsion
-
- 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses a frame type glider, which comprises a frame, a boat body, a glider system, a floating state adjusting system and a propulsion control and control system, wherein the frame is arranged on the boat body; the frame includes two parallel symmetry set up's lateral wall, lateral wall outside symmetry is equipped with the hull, glide system include a pair of arrange in rotatable horizontal hydrofoil around the frame top, a pair of arrange in fixed horizontal hydrofoil around the frame bottom and control respectively rotatable horizontal hydrofoil's a pair of adjustable angle steering engine. The frame type glider overcomes the defects of poor cruising ability and easy damage of hydrofoils caused by large energy consumption of the traditional underwater glider. In order to ensure that the underwater glider has a reliable gliding function, two pairs of hydrofoils are designed for the glider, wherein the upper part is rotatable and the lower part is fixed. And the propulsion unit is additionally arranged, so that the defect that the current underwater glider has low navigational speed and cannot maintain navigational depth can be effectively overcome.
Description
Technical Field
The invention relates to the technical field of underwater gliders, in particular to a frame-type glider and a control method thereof.
Background
An underwater glider (Underwater Glider, UG) is an underwater robot which realizes heave by adjusting the buoyancy of a body, obtains propulsive force by adjusting the net buoyancy and attitude angle of both wings, realizes underwater glider and collects underwater information. The method has the advantages of high energy utilization efficiency, low noise, large-scale continuous marine environment observation and detection, and suitability for physical marine phenomenon observation, ecological environment investigation, marine safety guarantee and the like of 'mesoscale' and above and even part of 'sub-mesoscale'.
The traditional underwater glider has no direct propulsion device, realizes the zigzag gliding motion on the vertical plane by changing the buoyancy of the device, and has the navigational speed of generally less than 1kn and the navigational range of 1000-6000 km. The hybrid driving type underwater glider with the propulsion system can effectively overcome the two pain points of low navigational speed and incapability of maintaining navigational depth, adopts a conventional gliding mode in standby time, and starts a propeller to start horizontal navigational when a task is required to be executed. The energy consumption higher than that of conventional gliders makes it necessary to supplement the energy to achieve long-term operation.
The body attaching mechanism of the traditional glider mainly comprises a horizontal wing and a vertical stabilizing wing at the stern, but the body attaching mechanism is mostly independent of the main body structure and is easily damaged by factors such as impact, fishing net winding and the like, and is very deadly for the non-hybrid glider.
Disclosure of Invention
Aiming at the defects existing in the related art, the invention provides a frame type glider, which solves the problems that the current underwater glider has low navigational speed, can not maintain navigational water depth and is easy to damage hydrofoils.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a frame type glider comprises a frame, a boat body, a glider system, a floating state adjusting system and a propulsion control system; the frame comprises two side walls which are symmetrically arranged in parallel, the boat body is symmetrically arranged on the outer sides of the side walls, the gliding system comprises a pair of rotatable horizontal hydrofoils which are arranged at the front and the rear of the top of the frame, a pair of fixed horizontal hydrofoils which are arranged at the front and the rear of the bottom of the frame, and a pair of angle-adjustable steering engines which respectively control the rotatable horizontal hydrofoils; the floating state adjusting system is symmetrically arranged in the boat body at two sides, each side comprises a water inlet and outlet, a pipeline, an electromagnetic valve, a high-pressure pump, a pressure sensor and a liquid storage cabin, the high-pressure pump is arranged at the head end of the upper part of the boat body, the liquid storage cabin is arranged behind the high-pressure pump according to the shape of the boat body, a swinging stopping bulkhead is arranged in the liquid storage cabin, the water inlet and outlet is communicated with the liquid storage cabin and the outside of the boat body through the pipeline and the electromagnetic valve and the high-pressure pump, and the pressure sensor is arranged on the pipeline; the propulsion control and control system comprises a propeller symmetrically arranged in the middle of the stern inside two side walls of the frame, a motor for driving the propeller, a propeller control system, a power supply, a circuit driving control system and an underwater detection sensing assembly, wherein the propeller control system, the power supply, the circuit driving control system and the underwater detection sensing assembly are arranged in the boat body, and the underwater detection sensing assembly comprises a pitching camera, an inertial navigation system, a GPS positioning system and an omnibearing sonar.
Further, the maximum length of the frame is 0.6-20 m, the maximum width is 0.45-0.7 times of the maximum length, the maximum height is 0.3-0.45 times of the maximum length, the boat body and the rotatable horizontal hydrofoil on both sides and the fixed horizontal hydrofoil are symmetrical or approximate symmetrical, arched or approximate arched, wing-shaped or approximate mechanical airfoil, the length of the boat body is 0.9-0.96 times of the maximum length, the height is 0.92-0.98 times of the maximum height, the aspect ratio of the rotatable horizontal hydrofoil and the horizontal hydrofoil is 5-20, and the thickness ratio is 0.05-0.15, wherein the maximum rotation angle of the rotatable horizontal hydrofoil is +/-15 degrees.
Further, the gliding system further comprises a pair of rotating shafts, a pair of fixed shafts and a gesture adjusting control system for controlling the angle-adjustable steering engine, the gesture adjusting control system controls the angle-adjustable steering engine to realize upward floating gliding and downward diving of the glider, the rotatable shafts are arranged at 1/4 of the chord length of the rotatable horizontal hydrofoil, the fixed shafts are arranged at 1/4 of the chord length of the fixed horizontal hydrofoil, and the rotatable horizontal hydrofoil is connected with the angle-adjustable steering engine through the rotatable shafts.
Further, the hull includes casing, support piece and baffle, the casing is double-deck shell structure, and the inner pressure shell provides watertight space for the instrument and equipment in the cabin to resist outside sea water pressure, the outer casing then reduces resistance, optimizes fluid properties, the outer casing material selects high strength withstand voltage corrosion resistant material, and the surface scribbles drag reduction material, the inner layer casing with link to each other through between the outer shell the support piece, the hull is inside to be divided into different cabins through the baffle.
Further, the gliding system and the buoyancy regulating system in the boat body are arranged on the upper portion, the propulsion control and control system is arranged on the lower portion, the lower cabin section of the boat body is a transparent cabin section, and the underwater detection sensing assemblies are all arranged on the head of the lower cabin section of the boat body.
The invention also provides a control method of the frame type glider, wherein the two propellers of the propulsion control and control system are driven by the motor to push the glider to move forwards, and the steering of the glider can be realized by controlling the rotating speed of the motor.
And the electromagnetic valve and the high-pressure pump in the floating state adjusting system are controlled to realize inflow and discharge of seawater in the liquid storage cabin, so that the glider floats upwards and submerges downwards.
The angle-adjustable steering engine of the glider system is used for controlling the rotatable horizontal hydrofoil to realize the floating glider and the submerging glider of the glider.
Further, the two rotatable horizontal hydrofoils adopt energy-saving transmission and angle adjusting mechanisms, so that the two rotatable horizontal hydrofoils at the upper part can be adjusted to a fixed angle, and meanwhile, the rotatable horizontal hydrofoils can be prevented from being influenced by incoming flow under the condition that the angle-adjustable steering engine does not work through the energy-saving transmission and angle adjusting mechanisms, and can be locked at the fixed angle, so that the glider can stably slide underwater.
Furthermore, in the floating state adjusting system, the interior of the liquid storage cabin is in a vacuum environment, and water can be automatically injected only by opening the electromagnetic valve; the pressure sensor is used for emergency treatment when the high-pressure pump fails, and the power supply is cut off, so that the system stops working. In addition, the floating state adjusting system can control the high-pressure pump in a grading manner according to the water pressure measured by the pressure sensor, so that the water inflow or the water outflow of the liquid storage tank is controlled.
Further, the circuit driving control system (5-9) of the propulsion control and control system is provided with a sleep and motor automatic start-stop mode, so that the low-power consumption state of the glider can be reached to the maximum extent; when the angle of the rotatable horizontal hydrofoil does not need to be adjusted, a sleep mode and an automatic motor start-stop mode are started, so that a circuit stops controlling the steering engine with adjustable angle, and energy consumption is reduced; in addition, the propulsion control and control system takes a singlechip as a core, and reduces standby power consumption by keeping the power supply state of the relay control sensor and the communication module, thereby achieving the purpose of low power consumption.
The beneficial explanation of the invention is as follows:
the frame-type glider provided by the invention overcomes the defects of poor cruising ability and easy damage of hydrofoils caused by large energy consumption of the traditional underwater glider. In order to ensure that the underwater glider has a reliable gliding function, two pairs of hydrofoils are designed for the glider, wherein the upper part is rotatable and the lower part is fixed. And the propulsion unit is additionally arranged, so that the defect that the current underwater glider has low navigational speed and cannot maintain navigational depth can be effectively overcome. In order to enable the glider to have better energy-saving effect, a circuit driving control system with a sleep mode and an automatic motor start-stop mode is adopted. The contradiction between the power limitation and the long-time endurance of the glider is solved, so that the energy-saving special motor driver is suitable for effective utilization. When the hydrofoil angle does not need to be adjusted, a dormant mode and an automatic motor start-stop mode are started, so that a circuit stops controlling the steering engine, the motor is not rotated any more, and energy consumption is reduced.
Drawings
FIG. 1 is a top view of a frame-type glider according to an embodiment of the present invention;
FIG. 2 is a front view of a frame-type glider according to an embodiment of the present invention;
FIG. 3 is a side view of a frame-type glider according to an embodiment of the present invention;
FIG. 4 is an isometric view of a frame-type glider according to an embodiment of the present invention;
FIG. 5 is a schematic view showing the arrangement of the cabin inside a frame-type glider according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a frame-type glider hydrofoil in accordance with an embodiment of the present invention;
FIG. 7 is a second cross-sectional view of a frame-type glider hydrofoil in accordance with an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a frame-type glider hydrofoil in accordance with an embodiment of the present invention;
Detailed Description
The present invention will be further described with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the invention is not limited to the specific embodiments, but is capable of numerous modifications within the spirit and scope of the invention as hereinafter defined and defined by the appended claims as will be apparent to those skilled in the art all falling within the true spirit and scope of the invention as hereinafter claimed.
As shown in fig. 1 to 5, a frame type glider includes a frame 1, a hull 2, a glider system 3, a buoyancy adjusting system 4, and a propulsion manipulation and control system 5; the frame 1 comprises two parallel and symmetrically arranged side walls, the boat body 2 is symmetrically arranged on the outer sides of the side walls, the gliding system 3 comprises a pair of rotatable horizontal hydrofoils 3-1 arranged on the front and back of the top of the frame 1, a pair of fixed horizontal hydrofoils 3-2 arranged on the front and back of the bottom of the frame 1 and a pair of adjustable angle steering engines 3-5 respectively controlling the rotatable horizontal hydrofoils 3-1; the buoyancy regulating system 4 is symmetrically arranged in the boat body 2 on two sides, each side comprises a water inlet and outlet 4-1, a pipeline 4-2, an electromagnetic valve 4-3, a high-pressure pump 4-4, a pressure sensor 4-5 and a liquid storage cabin 4-6, the high-pressure pump 4-4 is arranged at the head end of the upper part of the boat body 2, the liquid storage cabin 4-6 is arranged behind the high-pressure pump 4-4 according to the shape of the boat body 2, a surge stopping bulkhead is arranged in the liquid storage cabin 4-6, the water inlet and outlet 4-1 is communicated with the liquid storage cabin 4-6 and the exterior of the boat body 2 through the pipeline 4-2 and the electromagnetic valve 4-3, and the pressure sensor 4-5 is arranged on the pipeline 4-2; the propulsion control and control system 5 comprises a propeller 5-1 symmetrically arranged in the middle of the stern inside two side walls of the frame 1, a motor 5-2 for driving the propeller 5-1, a propeller control system 5-3, a power supply 5-8, a circuit driving control system 5-9 and an underwater detection sensing assembly, wherein the propeller control system 5-3, the power supply 5-8, the circuit driving control system 5-9 and the underwater detection sensing assembly are arranged inside the boat body 2, and the underwater detection sensing assembly comprises a pitching camera 5-4, an inertial navigation system 5-5, a GPS positioning system 5-6 and an omnibearing sonar 5-7.
The maximum length of the frame 1 is 0.6-20 m, the maximum width is 0.45-0.7 times of the maximum length, the maximum height is 0.3-0.45 times of the maximum length, the boat body 2 and the rotatable horizontal hydrofoil 3-1 on both sides and the fixed horizontal hydrofoil 3-2 are symmetrical wing type or approximate symmetrical wing type, arched wing type or approximate arched wing type, wing type or approximate mechanical wing type, the length of the boat body 2 is 0.9-0.96 times of the maximum length, the height is 0.92-0.98 times of the maximum height, the aspect ratio of the rotatable horizontal hydrofoil 3-1 and the horizontal hydrofoil 3-2 is 5-20, the thickness ratio is 0.05-0.15, wherein the maximum rotation angle of the rotatable horizontal hydrofoil 3-1 is +/-15 degrees.
As shown in fig. 2, the glide system 3 further includes a pair of rotation shafts 3-3 and a pair of fixed shafts 3-4, and a posture adjustment control system 3-6 for controlling the adjustable angle steering engine 3-5, the posture adjustment control system 3-6 realizes the upward floating glide and the downward submerged glide of the glider by controlling the adjustable angle steering engine 3-5, the rotation shafts 3-3 are disposed at 1/4 of the chord length of the rotatable horizontal hydrofoil 3-1, the fixed shafts 3-4 are disposed at 1/4 of the chord length of the fixed horizontal hydrofoil 3-2, and the rotatable horizontal hydrofoil 3-1 is connected with the adjustable angle steering engine 3-5 through the rotation shafts 3-3.
As shown in fig. 5, the hull 2 comprises a shell 2-1, a supporting member 2-2 and a partition plate 2-3, the shell 2-1 is of a double-layer shell structure, an inner pressure-resistant shell provides watertight space for instruments and equipment in a cabin and resists external seawater pressure, an outer shell reduces resistance and optimizes fluid performance, the outer shell is made of high-strength pressure-resistant corrosion-resistant materials, the surfaces of the outer shell are coated with drag-reducing materials, the inner shell and the outer shell are connected through the supporting member 2-2, and the interior of the hull 2 is divided into different cabins through the partition plate 2-3.
The gliding system 3 and the buoyancy regulating system 4 in the boat body 2 are arranged at the upper part, the propulsion control and control system 5 is arranged at the lower part, the lower cabin section of the boat body 2 is a transparent cabin section, and the underwater detection sensing components are all arranged at the head part of the lower cabin section of the boat body 2.
Control method
According to the frame-type glider control method, the two propellers 5-1 of the propulsion control and control system 5 are driven by the motor 5-2 to push the glider to move forwards, and steering of the glider can be achieved by controlling the rotating speed of the motor 5-2.
The electromagnetic valve 4-3 and the high-pressure pump 4-4 in the floating state adjusting system 4 are controlled to realize inflow and discharge of seawater in the liquid storage cabin 4-6, so that the glider floats upwards and descends.
The rotatable horizontal hydrofoil 3-1 is controlled by the angle-adjustable steering engine 3-5 of the glider system 3 to realize the floating glider and the submerging glider of the glider.
Further, the two rotatable horizontal hydrofoils 3-1 adopt an energy-saving transmission and angle adjustment mechanism, so that the two rotatable horizontal hydrofoils 3-1 at the upper part can be adjusted to a fixed angle, and meanwhile, the rotatable horizontal hydrofoils 3-1 can be prevented from being influenced by incoming flow under the condition that the angle-adjustable steering engine 3-5 does not work through the energy-saving transmission and angle adjustment mechanism, and are locked at the fixed angle, so that the glider can stably slide under water.
Furthermore, the interior of the liquid storage cabin 4-6 in the floating state adjusting system 4 is in a vacuum environment, and water can be automatically injected only by opening the electromagnetic valve 4-3; the pressure sensor 4-5 is used for emergency treatment when the high-pressure pump 4-4 fails, and the power supply is cut off to stop the system. In addition, the floating state adjusting system 4 can control the high-pressure pump 4-4 in a grading manner according to the water pressure measured by the pressure sensor 4-5, so as to control the water inflow or water outflow of the liquid storage cabin 4-6.
Further, the circuit driving control system 5-9 of the propulsion control and control system 5 has a sleep and motor automatic start-stop mode, so that the low power consumption state of the glider can be maximally reached; when the angle of the rotatable horizontal hydrofoil 3-1 does not need to be adjusted, a sleep mode and an automatic motor start-stop mode are started, so that a circuit stops controlling the steering engine 3-5 with the adjustable angle, and energy consumption is reduced; in addition, the propulsion control and control system 5 takes a singlechip as a core, and reduces standby power consumption by keeping the power supply state of the relay control sensor and the communication module, thereby achieving the purpose of low power consumption.
Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (6)
1. A frame type glider comprises a frame (1), a boat body (2), a glider system (3), a floating state adjusting system (4) and a propulsion control and control system (5);
the frame (1) comprises two parallel and symmetrically arranged side walls, the boat body (2) is symmetrically arranged on the outer sides of the side walls, the gliding system (3) comprises a pair of rotatable horizontal hydrofoils (3-1) which are arranged at the front and back of the top of the frame (1), a pair of fixed horizontal hydrofoils (3-2) which are arranged at the front and back of the bottom of the frame (1), and a pair of adjustable angle steering engines (3-5) which respectively control the rotatable horizontal hydrofoils (3-1); the buoyancy state adjusting system (4) is symmetrically arranged in the boat body (2) on two sides, each side comprises a water inlet and outlet (4-1), a pipeline (4-2), an electromagnetic valve (4-3), a high-pressure pump (4-4), a pressure sensor (4-5) and a liquid storage cabin (4-6), the high-pressure pump (4-4) is arranged at the head end of the upper part of the boat body (2), the liquid storage cabin (4-6) is arranged behind the high-pressure pump (4-4) according to the shape of the boat body (2), a surge stopping bulkhead is arranged inside the Chu Yecang (4-6), the water inlet and outlet (4-1) is communicated with the outside of the liquid storage cabin (4-6) and the boat body (2) through the pipeline (4-2) and the electromagnetic valve (4-3), and the pressure sensor (4-5) is arranged on the pipeline (4-2); the propulsion control and control system (5) comprises a propeller (5-1) symmetrically arranged in the middle of the stern inside two side walls of the frame (1), a motor (5-2) for driving the propeller (5-1), a propeller control system (5-3), a power supply (5-8), a circuit driving control system (5-9) and an underwater detection sensing assembly, wherein the propeller control system (5-3), the power supply (5-8), the circuit driving control system (5-9) and the underwater detection sensing assembly are arranged inside the boat body (2), and the underwater detection sensor assembly comprises a pitching camera (5-4), an inertial navigation system (5-5), a GPS positioning system (5-6) and an omnibearing sonar (5-7).
2. A frame glider according to claim 1 wherein: the maximum length of the frame (1) is 0.6-20 m, the maximum width is 0.45-0.7 times of the maximum length, the maximum height is 0.3-0.45 times of the maximum length, the boat body (2) and the rotatable horizontal hydrofoil (3-1) on two sides and the fixed horizontal hydrofoil (3-2) are symmetrical wing type or approximate symmetrical wing type, arched wing type or approximate arched wing type, wing type or approximate airplane wing type, the length of the boat body (2) is 0.9-0.96 times of the maximum length, the height is 0.92-0.98 times of the maximum height, the aspect ratio of the rotatable horizontal hydrofoil (3-1) and the horizontal hydrofoil (3-2) is 5-20, the thickness ratio is 0.05-0.15, and the maximum rotation angle of the rotatable horizontal hydrofoil (3-1) is +/-15 degrees.
3. A frame glider according to claim 1 wherein: the glider system (3) further comprises a pair of rotating shafts (3-3) and a pair of fixed shafts (3-4) and a gesture adjusting control system (3-6) for controlling the adjustable angle steering engine (3-5), the gesture adjusting control system (3-6) controls the adjustable angle steering engine (3-5) to realize the floating glider and the diving glider of the glider, the rotatable shafts (3-3) are arranged at 1/4 of the chord length of the rotatable horizontal hydrofoil (3-1), the fixed shafts (3-4) are arranged at 1/4 of the chord length of the fixed horizontal hydrofoil (3-2), and the rotatable horizontal hydrofoil (3-1) is connected with the adjustable angle steering engine (3-5) through the rotatable shafts (3-3).
4. A frame glider according to claim 1 wherein: the boat body (2) comprises a shell (2-1), a supporting piece (2-2) and a partition plate (2-3), wherein the shell (2-1) is of a double-layer shell structure, an inner pressure-resistant shell provides watertight space for instruments and equipment in a cabin and resists external seawater pressure, an outer shell reduces resistance and optimizes fluid performance, a high-strength pressure-resistant corrosion-resistant material is selected as an outer shell material, a drag-reducing material is coated on the surface of the outer shell material, the inner shell and the outer shell are connected through the supporting piece (2-2), and different cabins are divided into by the partition plate (2-3) inside the boat body (2).
5. A frame glider according to claim 1 wherein: the submarine body (2) is characterized in that the gliding system (3) and the buoyancy regulating system (4) are arranged on the upper portion, the propulsion control and control system (5) is arranged on the lower portion, the lower cabin section of the submarine body (2) is a transparent cabin section, and the underwater detection sensing assemblies are all arranged on the head of the lower cabin section of the submarine body (2).
6. A method of controlling a frame glider according to any one of claims 1 to 5, wherein: the two propellers (5-1) of the propulsion control and control system (5) are driven by the motor (5-2) to push the glider to move forwards, and the steering of the glider can be realized by controlling the rotating speed of the motor (5-2);
the electromagnetic valve (4-3) and the high-pressure pump (4-4) in the floating state adjusting system (4) are controlled to realize inflow and discharge of seawater in the liquid storage cabin (4-6), so that the glider floats upwards and descends;
the angle-adjustable steering engine (3-5) of the glider system (3) is used for controlling the rotatable horizontal hydrofoil (3-1) to realize the floating glider and the submerging glider of the glider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311039200.3A CN117048811A (en) | 2023-08-17 | 2023-08-17 | Frame type glider and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311039200.3A CN117048811A (en) | 2023-08-17 | 2023-08-17 | Frame type glider and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117048811A true CN117048811A (en) | 2023-11-14 |
Family
ID=88653075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311039200.3A Pending CN117048811A (en) | 2023-08-17 | 2023-08-17 | Frame type glider and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117048811A (en) |
-
2023
- 2023-08-17 CN CN202311039200.3A patent/CN117048811A/en active Pending
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