CN118323327A - High-speed double-body unmanned ship with quick-response active control suspension system - Google Patents
High-speed double-body unmanned ship with quick-response active control suspension system Download PDFInfo
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- CN118323327A CN118323327A CN202410607510.9A CN202410607510A CN118323327A CN 118323327 A CN118323327 A CN 118323327A CN 202410607510 A CN202410607510 A CN 202410607510A CN 118323327 A CN118323327 A CN 118323327A
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- 230000001141 propulsive effect Effects 0.000 claims 1
- 239000006096 absorbing agent Substances 0.000 description 4
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Abstract
The invention relates to the technical field of twin-hull unmanned boats and discloses a high-speed twin-hull unmanned boat with a rapid-response active control suspension system. When the ship body pitching and heaving phenomena occur, the second telescopic compensation device is used for compensating pitching according to the posture of the ship body, the first telescopic compensation device and the third telescopic compensation device are used for compensating heaving together, so that an upper-layer equipment platform is kept horizontal, the design of the stroke increasing rod can increase the initial position compensation speed, and the compensation angular speed of the upper-layer platform is increased, thereby improving the compensation speed.
Description
Technical Field
The invention relates to the technical field of double-body unmanned boats, in particular to a high-speed double-body unmanned boat with a rapid-response active control suspension system.
Background
With the continuous development of unmanned control technology, as an unmanned platform, unmanned ships can replace the unmanned platform in prospecting, obstacle removal, certain dangerous fields or special environments, so that the danger of the field in the field can be reduced, and the effect of half effort can be achieved.
In chinese patent publication No. CN 114379699B, a suspended double-body target ship is disclosed, which relates to the field of target ship. The target ship comprises a ship deck, a suspension structure and two buoyancy monomers, wherein the suspension structure is connected to the upper sides of the two buoyancy monomers, and the ship deck is arranged on the suspension structure; the suspension structure comprises at least two suspension components, wherein the suspension components comprise an upper base, a lower base and two supporting rods, the upper base and the lower base are arranged at intervals up and down, the two supporting rods are arranged at intervals along the width direction of a deck of the ship body, the two supporting rods are hinged between the upper base and the lower base, the upper base, the lower base and the two supporting rods form a four-bar mechanism, and a shock absorber and a tensioner are arranged between the upper base and the lower base; the ship deck is also provided with a main controller, an acceleration sensor and a roll sensor, wherein the main controller is respectively and electrically connected with the acceleration sensor, the roll sensor and the tensioners of the two suspension components so as to control the tensioner of the suspension components to retract and release the shock absorber to corresponding strokes according to sailing bump signals and roll signals.
However, in use, the prior art achieves this by designing the suspension system and tensioner: the tensioner of the suspension assembly is controlled to retract and retract the shock absorber to the corresponding stroke according to the bumping signal so as to adjust the elastic strength and the supporting height of the suspension assembly, and the device can be better suitable for sea surface wave fluctuation in the sailing process; the roll sensor is used for detecting the roll degree of a ship deck and generating an inclination angle electric signal, the tensioner of the suspension assembly is controlled to retract the shock absorber to the corresponding stroke according to the inclination angle so as to adjust the supporting height of the corresponding side suspension assembly, thereby compensating the roll change of the ship deck during high maneuver turning, and the applicant finds that for unmanned ship products, the prior art cannot well support the unmanned ship provided with the upper platform for the ship pitching and heaving phenomenon caused by waves, and the upper platform cannot keep stable when the ship pitching and heaving phenomenon is generated.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a high-speed double-body unmanned ship with a rapid-response active control suspension system.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the high-speed double-hull unmanned ship with the rapid-response active control suspension system comprises a double-hull ship body, wherein an outboard engine is arranged on one side of the double-hull ship body and used for providing propulsion force for the double-hull ship body, suspension systems are arranged on two ship bodies of the double-hull ship body, and an upper equipment platform is arranged on the double-hull ship body through the suspension systems;
The suspension system comprises a first telescopic compensation device arranged in front of a ship body and a third telescopic compensation device arranged at the rear of the ship body, a base plate is arranged at the top of the first telescopic compensation device, a stroke increasing rod and a second telescopic compensation device are respectively and rotatably arranged on two sides of the other surface of the base plate through hinges, the other end of the stroke increasing rod and the telescopic end of the third telescopic compensation device are respectively and rotatably connected with two sides of the bottom of an upper equipment platform through hinges, and the telescopic end of the second telescopic compensation device is propped against the bottom of the stroke increasing rod.
Preferably, the first expansion compensation device, the second expansion compensation device and the third expansion compensation device are all hydraulic cylinders.
Preferably, the ship further comprises a control system, wherein the control system comprises energy equipment arranged in the ship body, a controller system arranged in an upper equipment platform and two attitude sensors respectively arranged in the ship body and the upper equipment platform, and the attitude sensors are electrically connected with the first telescopic compensation device and a third telescopic compensation device arranged at the rear of the ship body through the controller system.
Preferably, the rear part of the ship body adopts a concave design, and the outboard motor is arranged at the concave part.
Preferably, the telescopic end of the first telescopic compensation device is designed in a slope shape, and the base plate is obliquely arranged on the slope.
Preferably, the initial position of the stroke-increasing rod is designed horizontally, in which position the initial velocity of its end is at a maximum, so that the maximum initial compensation velocity is obtained.
Preferably, the flexible layer is installed to the flexible end tip of second flexible compensation arrangement, flexible layer offsets with the stroke increase pole bottom, flexible lantern ring is installed to the upper end of flexible layer, and flexible lantern ring cover locates the stroke increase pole outside.
A method for actively controlling a suspension system of a high-speed twin-hull unmanned aerial vehicle, which adopts the high-speed twin-hull unmanned aerial vehicle with a rapid-response active control suspension system, comprising the following steps:
acquiring pitching and heave information of a ship body and initial attitude information of an equipment platform above the ship body;
Resolving the information to obtain the length of the telescopic end part of each of the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device;
And controlling the stroke actions of the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device according to the position of the upper equipment platform, and independently controlling pitching compensation by the first telescopic compensation device, and compensating heave by the second telescopic compensation device and the third telescopic compensation device.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, through the arranged stroke increasing rod, the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device, when the ship body pitching and heaving phenomena are generated, the second telescopic compensation device is used for compensating the pitching according to the posture of the ship body, the first telescopic compensation device and the third telescopic compensation device are used for compensating the heaving together, so that an upper equipment platform is kept horizontal, the design of the stroke increasing rod can increase the initial position compensation speed, and the upper platform compensation angular speed is increased, thereby improving the compensation speed, and avoiding the problem that the speed is slow due to the fact that the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device need to support the upper equipment platform and high thrust is needed.
Drawings
FIG. 1 is a schematic perspective view of a high-speed twin-hull unmanned boat with a fast-response active control suspension system according to the present invention;
FIG. 2 is a side view of a high speed twin-hull unmanned boat with a fast-response active control suspension system in accordance with the present invention;
FIG. 3 is a schematic view of a telescopic end of a second telescopic compensating apparatus of an embodiment 1 of a high-speed twin-hull unmanned aerial vehicle with a fast-response actively controlled suspension system according to the present invention;
FIG. 4 is a schematic view of a telescopic end of a second telescopic compensating apparatus according to an embodiment 2 of the present invention for a high-speed twin-hull unmanned vehicle with a fast-response actively controlled suspension system;
FIG. 5 is a schematic diagram of a normal state of a high speed twin-hull unmanned aerial vehicle with a fast-response actively controlled suspension system according to the present invention;
FIG. 6 is a schematic diagram of the state of the suspension system of the high-speed twin-hull unmanned aerial vehicle with a fast-response active control suspension system according to the present invention;
FIG. 7 is a schematic diagram of the state of the suspension system during compensated pitching of a high-speed twin-hull unmanned vehicle with a fast-response active control suspension system according to the present invention;
fig. 8 is a schematic diagram of signal transceiving of a controller system of a high-speed twin-hull unmanned aerial vehicle with a fast-response active control suspension system according to the present invention.
In the figure: 1. catamaran hulls; 2. an outboard engine; 3. an upper equipment platform; 4. a first telescopic compensation device; 5. a second telescopic compensation device; 6. a third telescopic compensation device; 7. a substrate; 8. a stroke increasing lever; 9. a flexible layer; 10. a flexible collar; 11. an energy source device; 12. a controller system; 13. an attitude sensor; 14. and (3) pressing the pressing piece.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 to 8, a high-speed twin-hull unmanned ship with a rapid-response active control suspension system comprises a twin-hull ship body 1, wherein an outboard engine 2 is arranged on one side of the twin-hull ship body 1 and is used for providing propulsion force for the twin-hull ship body 1, suspension systems are arranged on two ship bodies of the twin-hull ship body 1, and an upper equipment platform 3 is arranged on the twin-hull ship body 1 through the suspension systems;
The suspension system comprises a first telescopic compensation device 4 arranged in front of a ship body and a third telescopic compensation device 6 arranged at the rear of the ship body, a base plate 7 is arranged at the top of the first telescopic compensation device 4, a stroke increasing rod 8 and a second telescopic compensation device 5 are respectively and rotatably arranged on two sides of the other surface of the base plate 7 through hinges, the other end of the stroke increasing rod 8 and the telescopic end of the third telescopic compensation device 6 are respectively and rotatably connected with two sides of the bottom of an upper equipment platform 3 through hinges, and the telescopic end of the second telescopic compensation device 5 is propped against the bottom of the stroke increasing rod 8.
When the device is used, when the ship body pitching and heave phenomenon occurs, the second telescopic compensation device 5 is used for compensating pitching according to the posture of the ship body, the first telescopic compensation device 4 and the third telescopic compensation device 6 are used for compensating heave together, the upper equipment platform 3 is kept horizontal, the stroke increasing rod 8 is designed, the initial position compensation speed can be increased, the upper equipment platform compensation angular speed is increased, the compensation speed is improved, the problems that the first telescopic compensation device 4, the second telescopic compensation device 5 and the third telescopic compensation device 6 need to support the upper equipment platform 3 and high thrust is needed to be adopted, the speed is slow are solved, the impact load received by the upper equipment platform 3 can be greatly reduced, the platform is kept horizontal, the working environment of equipment on the platform can be greatly improved, and the service life of the equipment is prolonged.
As shown in fig. 7, in operation, the second telescopic compensating means 5 is used to compensate for pitching, and the first telescopic compensating means 4 and the third telescopic compensating means 6 are used together to compensate for heave. As shown in the above figures, the first telescopic compensation device 4 and the third telescopic compensation device 6 are kept unchanged, and the second telescopic compensation device 5 is retracted, so that pitching of the ship is compensated, and the upper platform is kept horizontal;
As shown in fig. 6, the second telescopic compensating means 5 is kept unchanged, and the first telescopic compensating means 4 and the third telescopic compensating means 6 are simultaneously extended by the same length, thereby compensating for heave.
In this embodiment, the first telescopic compensation device 4, the second telescopic compensation device 5 and the third telescopic compensation device 6 are hydraulic cylinders, and the hydraulic cylinders can meet the requirement of supporting the upper equipment platform 3 for large thrust.
In this embodiment, the ship hull comprises a hull body, a control system, the control system comprises an energy source device 11 arranged in the hull body, a controller system 12 arranged in the upper device platform 3, and two attitude sensors 13 respectively arranged in the hull body and the upper device platform 3, the controller system 12 is composed of an industrial personal computer and a singlechip, the controller system 12 is arranged on the upper device platform, due to the fact that a suspension compensation system is arranged, impact load received by the suspension compensation system is reduced, service life is prolonged, noise interference caused by impact can be reduced, the attitude sensors 13 are electrically connected with the first telescopic compensation device 4 and the third telescopic compensation device 6 arranged at the rear of the hull body through the controller system 12, the pitching information of the hull body and the initial attitude information of the upper device platform are obtained through the two attitude sensors 13, then the information is transmitted to the industrial personal computer to be resolved, the length of each hydraulic cylinder is obtained, and then the stroke actions of the three hydraulic cylinders are controlled through the singlechip.
In this embodiment, the rear portion of hull adopts sunken design, outboard engine 2 sets up at this sunken position, leaves the space that absorbs water for outboard engine 2, can improve outboard engine 2 propulsion efficiency, and two outboard engines 2 produce the turning force through the differential, can realize unmanned ship's in situ gyration, lets unmanned ship have good operability.
In this embodiment, the telescopic end of the first telescopic compensation device 4 is designed in a slant shape, and the substrate 7 is obliquely mounted on the slant.
In this embodiment, the initial position of the stroke-increasing rod 8 is designed horizontally, in which the initial velocity of the end thereof is at a maximum value, so that the maximum initial compensation velocity is obtained.
In this embodiment, the telescopic end of the second telescopic compensation device 5 is rotatably mounted with a pressing member 14 through a rotating shaft, and the top of the pressing member 14 abuts against the bottom of the stroke increasing rod 8.
In this embodiment, the catamaran hull 1 is a wave-boat type, so that the hull can work under severe sea conditions while having high speed.
A method for actively controlling a suspension system of a high-speed twin-hull unmanned aerial vehicle, which adopts the high-speed twin-hull unmanned aerial vehicle with a rapid-response active control suspension system, comprising the following steps:
acquiring pitching and heave information of a ship body and initial attitude information of an equipment platform above the ship body;
Resolving the information to obtain the length of the telescopic end parts of each of the first telescopic compensation device 4, the second telescopic compensation device 5 and the third telescopic compensation device 6;
The stroke actions of the first telescopic compensation device 4, the second telescopic compensation device 5 and the third telescopic compensation device 6 are controlled according to the position of the upper equipment platform, and the pitching compensation is independently controlled by the first telescopic compensation device 4, and the heave is compensated by the second telescopic compensation device 5 and the third telescopic compensation device 6.
Example 2
This embodiment differs from embodiment 1 in that:
In this embodiment, flexible layer 9 is installed to the flexible end tip of second flexible compensation arrangement 5, flexible layer 9 offsets with stroke increase pole 8 bottom, flexible lantern ring 10 is installed to flexible layer 9's upper end, and flexible layer 9 and flexible lantern ring 10's material all adopts soft rubber, and flexible lantern ring 10 cover locates stroke increase pole 8 outside, and the flexible end of second flexible compensation arrangement 5 of being convenient for is connected with stroke increase pole 8, and flexible material then is in order to be applicable to the motion of stroke increase pole 8.
In this embodiment, the first telescopic compensation device 4, the second telescopic compensation device 5 and the third telescopic compensation device 6 all adopt hydraulic cylinders with self-locking functions, and the hydraulic cylinders can be used as safety structures and as locking devices when the hydraulic cylinders fail.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. The utility model provides a high-speed twin-hull unmanned ship with quick response active control suspension system, includes the twin-hull ship hull, one side of twin-hull ship hull is provided with the outboard engine for provide propulsive force for the twin-hull ship hull, its characterized in that: the two hulls of the catamaran are provided with suspension systems, and the catamaran is provided with an upper equipment platform through the suspension systems;
The suspension system comprises a first telescopic compensation device arranged in front of a ship body and a third telescopic compensation device arranged at the rear of the ship body, a base plate is arranged at the top of the first telescopic compensation device, a stroke increasing rod and a second telescopic compensation device are respectively and rotatably arranged on two sides of the other surface of the base plate through hinges, the other end of the stroke increasing rod and the telescopic end of the third telescopic compensation device are respectively and rotatably connected with two sides of the bottom of an upper equipment platform through hinges, and the telescopic end of the second telescopic compensation device is propped against the bottom of the stroke increasing rod.
2. A high speed twin mass unmanned boat with a fast response actively controlled suspension system as defined in claim 1 wherein: the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device are all hydraulic cylinders.
3. A high speed twin mass unmanned boat with a fast response actively controlled suspension system as defined in claim 2 wherein: the control system comprises energy equipment arranged in the hull, a controller system arranged in an upper equipment platform and two attitude sensors respectively arranged in the hull and the upper equipment platform, the attitude sensor is electrically connected with the first telescopic compensation device and the third telescopic compensation device arranged at the rear of the ship body through the controller system.
4. A high speed twin mass unmanned boat with a fast response actively controlled suspension system as defined in claim 1 wherein: the rear part of the ship body adopts a concave design, and the outboard engine is arranged at the concave part.
5. A high speed twin mass unmanned aerial vehicle with a fast response actively controlled suspension system as defined in claim 3, wherein: the telescopic end of the first telescopic compensation device is designed in an inclined plane shape, and the substrate is obliquely arranged on the inclined plane.
6. A high speed twin mass unmanned aerial vehicle with a fast response actively controlled suspension system as defined in claim 5, wherein: the initial position of the stroke increasing rod is designed horizontally, and the initial speed of the tail end of the stroke increasing rod is the maximum value at the position, so that the maximum initial compensation speed is obtained.
7. A high speed twin mass unmanned boat with a fast response actively controlled suspension system as defined in claim 1 wherein: the flexible layer is installed to the flexible end tip of second flexible compensation arrangement, flexible layer offsets with the stroke increase pole bottom, flexible lantern ring is installed to flexible layer's upper end, and flexible lantern ring cover locates the stroke increase pole outside.
8. A high speed twin mass unmanned boat with a fast response actively controlled suspension system as defined in claim 1 wherein: and the end part of the telescopic end of the second telescopic compensation device is rotatably provided with a pressing piece through a rotating shaft, and the top of the pressing piece is propped against the bottom of the stroke increasing rod.
9. A method of actively controlling a suspension system for a high speed twin-hull unmanned vehicle employing a high speed twin-hull unmanned vehicle with a fast response actively controlling suspension system as defined in any of claims 1-9, comprising: the method comprises the following steps:
acquiring pitching and heave information of a ship body and initial attitude information of an equipment platform above the ship body;
Resolving the information to obtain the length of the telescopic end part of each of the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device;
And controlling the stroke actions of the first telescopic compensation device, the second telescopic compensation device and the third telescopic compensation device according to the position of the upper equipment platform, and independently controlling pitching compensation by the first telescopic compensation device, and compensating heave by the second telescopic compensation device and the third telescopic compensation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410607510.9A CN118323327A (en) | 2024-05-16 | 2024-05-16 | High-speed double-body unmanned ship with quick-response active control suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410607510.9A CN118323327A (en) | 2024-05-16 | 2024-05-16 | High-speed double-body unmanned ship with quick-response active control suspension system |
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| Publication Number | Publication Date |
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| CN118323327A true CN118323327A (en) | 2024-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410607510.9A Pending CN118323327A (en) | 2024-05-16 | 2024-05-16 | High-speed double-body unmanned ship with quick-response active control suspension system |
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| Country | Link |
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| CN (1) | CN118323327A (en) |
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- 2024-05-16 CN CN202410607510.9A patent/CN118323327A/en active Pending
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