CN206644972U - A kind of depthkeeping suspension system for drive lacking UUV - Google Patents
A kind of depthkeeping suspension system for drive lacking UUV Download PDFInfo
- Publication number
- CN206644972U CN206644972U CN201720283989.0U CN201720283989U CN206644972U CN 206644972 U CN206644972 U CN 206644972U CN 201720283989 U CN201720283989 U CN 201720283989U CN 206644972 U CN206644972 U CN 206644972U
- Authority
- CN
- China
- Prior art keywords
- uuv
- regulating device
- bow
- buoyancy regulating
- stern
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of depthkeeping suspension system for drive lacking UUV, by control system, power supply, depth transducer and buoyancy regulating device composition, described buoyancy regulating device includes bow buoyancy regulating device and stern buoyancy regulating device, bow, stern buoyancy regulating device structure is identical, into being symmetrically installed, the cross section that centre of buoyancy is crossed on UUV is symmetrical, wherein bow buoyancy regulating device is installed on UUV bow, stern buoyancy regulating device is installed on UUV stern, bow, stern buoyancy regulating device is mounted on UUV bottom, bow, stern buoyancy regulating device longitudinal axis is parallel with UUV longitudinal axis, it is and symmetrical on UUV vertical sections.The utility model can make drive lacking UUV realize the regulation of depth in the case of no axial velocity, realize that depthkeeping suspends in the case where axial propeller is closed, need to close propeller especially suitable for UUV and adjust depth and the occasion in desired depth depthkeeping suspension work.
Description
Technical field
It the utility model is related to UUV control fields, more particularly to a kind of buoyancy regulating system suitable for drive lacking UUV.
Background technology
During ocean operation, it is sometimes desirable to which UUV can be suspended depth bounds predetermined under water, and this is required
UUV should have underwater fixed depth suspension function.Drive lacking UUV control is that (axial thrust, hydroplane are bowed by 3 control inputs
Face upward torque, vertical rudder yawing) control 6 frees degree motion.Wherein drive lacking UUV depth changes, and relies primarily on axle
Realized to propeller and hydroplane, the density of seawater may be different in different marine sites, different depth, when not having
During the horizontal speed of a ship or plane, drive lacking UUV is difficult to the control of depth, and depthkeeping suspends and is difficult to.And by pacifying on drive lacking UUV
Buoyancy regulating device is filled, surplus buoyancy is adjusted, depth adjustment can be carried out in the case of no horizontal thrust, realizes that depthkeeping hangs
It is floating.
Utility model content
The utility model provides a kind of depthkeeping suspension system for drive lacking UUV, is advantageous to overcome drive lacking UUV not having
Have and be difficult to depth adjustment in the case of axial velocity, the shortcomings that long-time depthkeeping suspension work can not be realized, by designing
Install depthkeeping suspension system during UUV additional and realize that depth adjustments of the drive lacking UUV in the case of no axial velocity suspends with depthkeeping.
The utility model is achieved through the following technical solutions：
A kind of depthkeeping suspension system for drive lacking UUV, by control system, power supply, depth transducer and buoyancy adjustment
Device forms, and described buoyancy regulating device includes bow buoyancy regulating device and stern buoyancy regulating device, bow, stern buoyancy
Adjusting means structure is identical, and into being symmetrically installed, it is symmetrical to cross the cross section of centre of buoyancy on UUV, and wherein bow buoyancy regulating device is pacified
Bow loaded on UUV, stern buoyancy regulating device are installed on UUV stern, and bow, stern buoyancy regulating device are mounted on UUV
Bottom, bow, stern buoyancy regulating device longitudinal axis are parallel with UUV longitudinal axis, and symmetrical on UUV vertical sections.
Further, bow, stern buoyancy regulating device share a set of control system and power supply.
Further, described buoyancy regulating device is by seawater hydraulic system, liquid level sensor, piston, sea water tank, gas cabin
And guide rail composition；Wherein gas cabin and sea water tank are pressure-resistant cabin, and centre is isolated using piston.
Further, described seawater hydraulic system, liquid level sensor, piston, sea water tank, gas cabin and guide rail are using resistance to
Seawater corrosion component.
Further, described seawater hydraulic system by sea water pump, sea water pump motor, integrated valve group, seawaterline,
Filter and controller composition.
The beneficial effects of the utility model：
The utility model can make drive lacking UUV realize the regulation of depth in the case of no axial velocity, be pushed away axially
Enter and realize that depthkeeping suspends in the case that device is closed, need closing propeller especially suitable for UUV and adjust depth and making a reservation for
The occasion of depth depthkeeping suspension work.Due to can be kept owing by closing seawater hydraulic system after reaching desired depth and stabilization
Drive UUV in the case of unpowered long-time depthkeeping suspend, can the effectively save energy, need to be in desired depth especially suitable for UUV
The occasion to suspend for a long time.
Brief description of the drawings
Fig. 1 the utility model drive lackings UUV depthkeeping suspension system theory diagram.
Fig. 2 the utility model buoyancy regulating device is installed and structural representation.
Embodiment
Shown in reference picture 1, a kind of depthkeeping suspension system for drive lacking UUV is by control system, power supply, depth transducer
And buoyancy regulating device composition；Shown in reference picture 2, described buoyancy regulating device floats including bow buoyancy regulating device with stern
Apparatus for adjusting force, the cross section that bow, stern buoyancy regulating device cross centre of buoyancy on UUV is symmetrical, wherein bow buoyancy regulating device
UUV bow is installed on, stern buoyancy regulating device is installed on UUV stern；Bow, stern buoyancy regulating device are mounted on
UUV bottom, two covering device longitudinal axis are parallel with UUV longitudinal axis, and symmetrical on UUV vertical sections.
Shown in reference picture 1, bow, stern buoyancy regulating device share a set of control system and power supply；Control system passes through depth
The current depth information that sensor obtains UUV is spent, is contrasted with target depth information, obtains depth difference；To depth difference
Differential is carried out, obtains depth difference pace of change；Using depth difference and change in depth speed as input, seawater hydraulic system is controlled
Working condition (draining, water filling, closing), when closing seawater liquid in the range of depth difference is H1 rice and when depth difference pace of change is zero
Pressure system, realize that depthkeepings of the UUV in the depth suspends.
Shown in reference picture 2, buoyancy regulating device is by seawater hydraulic system (1), liquid level sensor (2), piston (7), seawater
Cabin (3), gas cabin (4) and guide rail (5,6) composition.Wherein gas cabin (4) and sea water tank (3) are pressure-resistant cabin, and centre utilizes piston (7)
Isolated.Control system realizes that piston (7) is movable along guide rail (5,6) by controlling seawater hydraulic system (1), from
And reach the purpose of regulation UUV buoyancy.During the volume design of pressure-resistant cabin, it need to be left on the premise of buoyancy adjustment scope is ensured
Certain surplus, during buoyancy adjustment, it need to ensure the pressure in pressure-resistant cabin in suitable scope.Gas cabin (4) it is internal filled with
Appropriate nitrogen.Piston (7) has good sealing, can effectively separate sea water tank (3) and gas cabin (4).Seawater hydraulic system
(1), liquid level sensor (2), piston (7), sea water tank (3), gas cabin (4) and guide rail (5,6) use seawater corrosion resistance component.
Seawater hydraulic system is by sea water pump, sea water pump motor, integrated valve group, seawaterline, filter and controller
Composition.Control system realizes the control to sea water pump motor and integrated valve group by controlling seawater hydraulic system controller
System, sea water tank water can be realized by changing steering, the rotating speed of sea water pump motor, and the open and close of integrated valve group
The change of amount, so as to promote piston to move forward and backward.
Shown in reference picture 1, control system obtains liquid level data by liquid level sensor, is handled and is lived using liquid level data
The position of plug, the synchronous working of bow, stern buoyancy regulating device is realized by the position of piston.
In view of bow stern water injection speed may difference, so after depthkeeping suspension control terminates, into normal fixed
, it is necessary to be compensated to this species diversity during Shenzhen Airlines' row.
Sea is in use, drive lacking UUV depthkeeping suspension system work mainly has two processes：
(1) depth transition process：ID is not noted constantly in set depth, control system control seawater hydraulic system
Draining, promote piston is movable to change drive lacking UUV surplus buoyancys, so as to control the target of its depth transition to setting deep
Degree.Delay after water injection speed elder generation urgency：Current depth and target depth difference are bigger, and water injection speed is higher；It is deep closer to target
Degree, water injection speed are lower.
(2) depth keeps process：While drive lacking UUV reaches target depth and stable depth, i.e., when depth difference is H1
Seawater hydraulic system is closed in the range of rice and when depth difference pace of change is zero, realizes unpowered depthkeepings of the UUV in the depth
Suspend.
Claims (5)
1. a kind of depthkeeping suspension system for drive lacking UUV, filled by control system, power supply, depth transducer and buoyancy adjustment
Put composition, it is characterised in that：Described buoyancy regulating device includes bow buoyancy regulating device and stern buoyancy regulating device,
Bow, stern buoyancy regulating device structure are identical, and into being symmetrically installed, the cross section that centre of buoyancy is crossed on UUV is symmetrical；Wherein bow buoyancy
Adjusting means is installed on UUV bow, and stern buoyancy regulating device is installed on UUV stern, and bow, stern buoyancy regulating device are equal
UUV bottom is installed on, bow, stern buoyancy regulating device longitudinal axis are parallel with UUV longitudinal axis, and symmetrical on UUV vertical sections.
A kind of 2. depthkeeping suspension system for drive lacking UUV according to claim 1, it is characterised in that described bow,
Stern buoyancy regulating device shares a set of control system and power supply.
3. the depthkeeping suspension system according to claim 1 for drive lacking UUV, it is characterised in that described buoyancy is adjusted
Regulating device is made up of seawater hydraulic system, liquid level sensor, piston, sea water tank, gas cabin and guide rail；Wherein gas cabin and sea water tank is equal
For pressure-resistant cabin, centre is isolated using piston.
4. the depthkeeping suspension system according to claim 3 for drive lacking UUV, it is characterised in that described seawater liquid
Pressure system, liquid level sensor, piston, sea water tank, gas cabin and guide rail use seawater corrosion resistance component.
5. the depthkeeping suspension system for drive lacking UUV according to claim 3 or 4, it is characterised in that described seawater
Hydraulic system is made up of sea water pump, sea water pump motor, integrated valve group, seawaterline, filter and controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720283989.0U CN206644972U (en) | 2017-03-22 | 2017-03-22 | A kind of depthkeeping suspension system for drive lacking UUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720283989.0U CN206644972U (en) | 2017-03-22 | 2017-03-22 | A kind of depthkeeping suspension system for drive lacking UUV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206644972U true CN206644972U (en) | 2017-11-17 |
Family
ID=60278957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720283989.0U Expired - Fee Related CN206644972U (en) | 2017-03-22 | 2017-03-22 | A kind of depthkeeping suspension system for drive lacking UUV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206644972U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552583A (en) * | 2018-12-18 | 2019-04-02 | 中国船舶重工集团公司第七0研究所 | Submersible device under a kind of UAV navigation |
| CN111959727A (en) * | 2020-08-25 | 2020-11-20 | 中国人民解放军国防科技大学 | Pressure-storable deep sea suspension depth setting device |
-
2017
- 2017-03-22 CN CN201720283989.0U patent/CN206644972U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552583A (en) * | 2018-12-18 | 2019-04-02 | 中国船舶重工集团公司第七0研究所 | Submersible device under a kind of UAV navigation |
| CN111959727A (en) * | 2020-08-25 | 2020-11-20 | 中国人民解放军国防科技大学 | Pressure-storable deep sea suspension depth setting device |
| CN111959727B (en) * | 2020-08-25 | 2021-09-14 | 中国人民解放军国防科技大学 | Pressure-storable deep sea suspension depth setting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106542071B (en) | For the buoyancy of long voyage AUV and posture balance control method | |
| US7921795B2 (en) | Buoyancy control systems and methods | |
| CN106043632B (en) | A kind of application method of deep-sea unmanned submariner device | |
| CN105383654B (en) | A kind of depth control apparatus of the latent device of autonomous underwater | |
| Zhao et al. | Improving the performance of an AUV hovering system by introducing low-cost flow rate control into water hydraulic variable ballast system | |
| JP4255477B2 (en) | Fish robot | |
| JP5504499B2 (en) | Solar underwater glider and its submarine method | |
| CN206644972U (en) | A kind of depthkeeping suspension system for drive lacking UUV | |
| CN110803270B (en) | AUV buoyancy adjusting device and control method | |
| JPH1086894A (en) | Underwater traveling body ascent/descent controlling method and device thereof | |
| CN111547212B (en) | Buoyancy control method for unpowered rapid submerged-floating AUV | |
| CN102975835A (en) | Seawater piston adjusting type gliding submarine | |
| CN1923613A (en) | Gliding type underwater moving building platform | |
| CN103895846A (en) | Attitude control device and method for flying-wing-type underwater glider | |
| CN101484353A (en) | Ship with bow control surface | |
| CN105083509A (en) | Oscillating foil propulsion system and method for controlling motion of oscillating movable foil | |
| CN110979601A (en) | Buoyancy and attitude adjustment integrated system of manned submersible | |
| CN105539784B (en) | A kind of web aerofoil profile wave energy underwater gliding measuring table and measuring method | |
| CN112591059A (en) | Underwater vehicle control method and device | |
| CN205044906U (en) | Binary hydrofoil water wing structure | |
| JP6657064B2 (en) | Flotation device | |
| JP3229214B2 (en) | Underwater vehicle lifting and lowering operation method and device | |
| CN109795610B (en) | Hydrofoil type water rescue equipment | |
| CA3085422A1 (en) | Method for controlling the buoyancy of a submarine vehicle | |
| KR20120054167A (en) | Air-cavity vessel with control of draft for navigation by bow and its trim controlling tank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171117 Termination date: 20180322 |