EP0385827A1 - Propulsion device for a submarine vehicle - Google Patents
Propulsion device for a submarine vehicle Download PDFInfo
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- EP0385827A1 EP0385827A1 EP90400434A EP90400434A EP0385827A1 EP 0385827 A1 EP0385827 A1 EP 0385827A1 EP 90400434 A EP90400434 A EP 90400434A EP 90400434 A EP90400434 A EP 90400434A EP 0385827 A1 EP0385827 A1 EP 0385827A1
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- vehicle
- hull
- thrusters
- longitudinal axis
- horizontal plane
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- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
Definitions
- the present invention relates to a propulsion device for underwater vehicles.
- underwater vehicles are powered by jet engines or propellers whose thrust axis is substantially parallel to the longitudinal axis of the vehicle and which provide a forward speed along this axis.
- the forces and moments exerted transversely to this axis which are necessary to ensure the evolutions of the vehicle are obtained by control surfaces which are active when the speed of movement is sufficiently high.
- the support of underwater vehicles is usually provided by the Archimedes' thrust which balances their mass, these vehicles must be able to move when their control surfaces have no action due in particular to a low forward speed or nothing.
- certain underwater vehicles can be equipped with two thrusters mounted outside the hull, for example two faired thrusters mounted symmetrically with respect to the longitudinal axis of the vehicle, that is to say the axis general advancement of the vehicle contained in a plane of the vehicle which is horizontal for a normal advance movement of the vehicle.
- the sum of the thrusts of these two thrusters produces a forward speed, while the difference of the thrusts, when the vehicle is stationary or in motion, generates a moment of rotation of the vehicle around an axis perpendicular to the horizontal plane resulting in a change of orientation of the vehicle.
- the documents FR-A-1,277,356 and US-A-3,598,074 each describe and represent an underwater vehicle of this type in which the two thrusters are each mounted on a transverse shaft driven in rotation by a servomotor so that each propellant can develop a horizontal force and a vertical force independently of the other. Thanks to the two thrusters, the vehicle can therefore be subjected to a yaw moment around the vertical axis of the vehicle and to a roll moment around the longitudinal axis of the vehicle.
- each pair is orientable around a horizontal transverse axis and is rotated by a motor or a manual control. Thanks to this arrangement, the underwater vehicle can be subjected to a horizontal force, a vertical force and a moment of pitch around a horizontal transverse axis, that is to say around an axis contained in the horizontal plane perpendicular to the longitudinal axis of advancement of the vehicle.
- a propellant with its variable pitch propeller, or variable speed propeller, and the possible fairings of the propeller and its engine constitute expensive equipment. It is therefore desirable and advantageous to reduce the number of thrusters necessary to give the vehicle the desired mobility.
- the object of the invention is therefore to propose a propulsion device for an underwater vehicle, of the type comprising thrusters mounted outside the hull each on one end of a shaft penetrating the hull and rotating around a axis perpendicular to the longitudinal axis of the hull which makes it possible to apply to the vehicle three components of force and three components of yaw moment, roll and pitch, that is to say six degrees of freedom while using a reduced number of propellants.
- the invention provides a propulsion device of the type which has just been mentioned, characterized in that at least one of the axes of rotation is not contained in the horizontal plane containing the longitudinal axis of the hull .
- the device comprises four thrusters mounted orientable at opposite ends of two shafts mounted to rotate through the hull perpendicularly to one another; - one of the two trees is perpendicular to the horizontal plane containing the longitudinal axis; - one of the two trees forms an angle of 45 degrees relative to the horizontal plane containing the longitudinal axis; - The device comprises three orientable thrusters each of which is mounted at one end of a shaft, the three shafts being arranged at 120 degrees from each other; - The device comprises at least one angle sensor associated with each propellant.
- yaw it is necessary to understand the movements of the vehicle in its normal horizontal plane of advance which, in FIG. 1, is parallel to the plane of the sheet.
- the vehicle's pitching movements are those which it performs in a plane perpendicular to its horizontal plane of advancement.
- FIG. 2 shows the longitudinal axis XX of normal advancement of the vehicle, which passes through the center of volume O of the vehicle and which corresponds to the lateral trace of the horizontal plane of the hull.
- the vehicle 1 is provided with two faired thrusters 6A and 6B respectively port and starboard, mounted orientable around a geometric axis perpendicular to the longitudinal axis XX of the vehicle, at the ends of a rotary transverse shaft 7 s' extending completely through the shell 2.
- the shaft 7 is rotated by means of a drive device 8 arranged inside the hull and adapted to be controlled so as to precisely regulate the angular position of the thrusters relative to the horizontal plane of the hull , by means of an angle sensor 9.
- the shaft 7 passes through the volume center O of the vehicle, and a certain space is provided between the hull 2 of the vehicle and the bodies of the thrusters 6A, 6B in order to facilitate the hydrodynamic flows when the thrusters are oriented around the shaft axis 7.
- FIG. 2 shows the vehicle 1 when the thrusters are inclined at an angle ⁇ relative to the longitudinal axis X-X.
- the advancement vector OV is then slightly below the thrust vectors OT of the two thrusters due to the hydrodynamic drag of the vehicle.
- Horizontal and vertical force components are also obtained, as in the case of a vehicle equipped with two fixed horizontal thrusters and one or two vertical thrusters mounted in a tunnel in the body of the vehicle, the number of thrusters here being reduced to two. instead of three or four but without obtaining three components of forces and three components of moments, that is to say six degrees of freedom.
- the invention proposes for example a vehicle of the type represented in FIG. 3 which comprises a device double compared to that of FIG. 1, that is to say two sets with two propellants 6A , 6B and 10A, 10B mounted two by two orientable at the opposite ends of two shafts 7 and 11, which are perpendicular to the longitudinal axis XX of the vehicle.
- the geometric axis of the shaft 7 extends, as in the case of the vehicle shown in Figures 1 and 2, in the horizontal plane of the hull, while the geometric axis of the shaft 11 is vertical, c ' that is, it extends in a plane perpendicular to the horizontal plane of the hull.
- Obtaining a lateral propulsion force is particularly advantageous when, with a low or zero forward speed and in the presence of a transverse underwater current, it is desired to keep the vehicle a constant orientation, for example for the line of sight of a camera or sonar which equips the vehicle.
- Lateral force is also useful in the event of a failure of one of the lateral thrusters.
- the vehicle then goes into "skid” and a lateral hydrodynamic lift force appears which can be balanced by the lateral propulsion force.
- the lateral thrusters can compensate for a failure of one of the upper or lower thrusters 10A, 10B.
- Obtaining a pitching moment is advantageous because it makes it possible to orient the machine for underwater aiming, or when the forward speed is high, to facilitate rapid immersion variations.
- a vehicle with fixed propellers should be equipped with six propellants arranged in an appropriate manner, like the aforementioned "Sea owl". Thanks to the arrangement according to this first embodiment of the invention, it suffices from four thrusters driven by two motors and provided with two angle sensors.
- each of the two shafts can in fact be constituted by two half trees of geometrical axes combined and driven in rotation independently of each other.
- FIG. 4 The embodiment of the invention shown in Figure 4 is similar to that of Figure 3, with the only difference that the shafts 7 ′ and 11 ′ perpendicular to each other are each inclined by 45 degrees relative to the horizontal plane of the hull and therefore relative to the embodiment previous.
- the results obtained in the control movements are identical, but the top and the bottom of the vehicle are free, which allows the mounting of various devices and loads, for example droppable loads.
- the empennage cross 5 is of course also offset at 45 degrees relative to the previous embodiment.
- the vehicle comprises only three thrusters 12, 13 and 14.
- Each of the thrusters is mounted at the end of a shaft, the three shafts being angularly distributed at 120 degrees one of the other around the advancement axis XX of the vehicle.
- the upper thruster 12 is mounted at the end of one of the three shafts which is vertical and therefore perpendicular to the horizontal plane of the hull of the vehicle.
- the vehicle comprises at the rear three fins 5 ′ also spaced 120 degrees apart, in the bisector planes of the angles separating the geometric axes of the three shafts and of the thrusters.
- Each thruster is driven by an individual motor 15, with an angle sensor 16, housed in an appropriate and sealed cavity of the hull.
- this embodiment of the invention provides six degrees of freedom with the additional advantage of requiring only three thrusters.
- the invention finds particular application on all underwater vehicles, in particular those intended for observations and interventions on objects located in open water or at the bottom of the sea.
- the propulsion device makes it possible to orient all the thrusters parallel to the longitudinal axis XX of the vehicle when it is desired to obtain a high forward speed, which is not possible when thrusters are mounted fixed in the vehicle shell
- Another advantage of the invention lies in the fact that the thrusters are roughly oriented in the direction of the speed obtained, so that their propellers work in the best performance conditions.
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Abstract
Description
La présente invention est relative à un dispositif de propulsion pour véhicules sous-marins.The present invention relates to a propulsion device for underwater vehicles.
Comme les avions, les véhicules sous-marins sont mûs par des réacteurs ou des propulseurs à hélices dont l'axe de poussée est sensiblement parallèle à l'axe longitudinal du véhicule et qui assurent une vitesse d'avancement suivant cet axe. Les forces et les moments s'exerçant transversalement à cet axe qui sont nécessaires pour assurer les évolutions du véhicule sont obtenus par des surfaces de commande qui sont actives lorsque la vitesse de déplacement est suffisamment élevée.Like airplanes, underwater vehicles are powered by jet engines or propellers whose thrust axis is substantially parallel to the longitudinal axis of the vehicle and which provide a forward speed along this axis. The forces and moments exerted transversely to this axis which are necessary to ensure the evolutions of the vehicle are obtained by control surfaces which are active when the speed of movement is sufficiently high.
La sustentation des véhicules sous-marins étant habituellement assurée par la poussée d'Archimède qui équilibre leur masse, ces véhicules doivent pouvoir évoluer lorsque leurs surfaces de commande n'ont pas d'action en raison notamment d'une vitesse d'avancement faible ou nulle.The support of underwater vehicles is usually provided by the Archimedes' thrust which balances their mass, these vehicles must be able to move when their control surfaces have no action due in particular to a low forward speed or nothing.
Dans ce but certains véhicules sous-marins peuvent être équipés de deux propulseurs montés à l'extérieur de la coque, par exemple deux propulseurs carénés montés symétriquement par rapport à l'axe longitudinal du véhicule, c'est-à-dire l'axe général d'avancement du véhicule contenu dans un plan du véhicule qui est horizontal pour un mouvement d'avance normal du véhicule. La somme des poussées de ces deux propulseurs produit une vitesse d'avancement, tandis que la différence des poussées, lorsque le véhicule est à l'arrêt ou en mouvement, engendre un moment de rotation du véhicule autour d'un axe perpendiculaire au plan horizontal entraînant un changement d'orientation du véhicule.To this end, certain underwater vehicles can be equipped with two thrusters mounted outside the hull, for example two faired thrusters mounted symmetrically with respect to the longitudinal axis of the vehicle, that is to say the axis general advancement of the vehicle contained in a plane of the vehicle which is horizontal for a normal advance movement of the vehicle. The sum of the thrusts of these two thrusters produces a forward speed, while the difference of the thrusts, when the vehicle is stationary or in motion, generates a moment of rotation of the vehicle around an axis perpendicular to the horizontal plane resulting in a change of orientation of the vehicle.
Les documents FR-A-1.277.356 et US-A-3.598.074 décrivent et représentent chacun un véhicule sous-marin de ce type dans lequel les deux propulseurs sont montés chacun sur un arbre transversal entraîné en rotation par un servomoteur de telle sorte que chaque propulseur peut développer indépendamment de l'autre une force horizontale et une force verticale. Grâce aux deux propulseurs, le véhicule peut donc être soumis à un moment de lacet autour de l'axe vertical du véhicule et à un moment de roulis autour de l'axe longitudinal du véhicule.The documents FR-A-1,277,356 and US-A-3,598,074 each describe and represent an underwater vehicle of this type in which the two thrusters are each mounted on a transverse shaft driven in rotation by a servomotor so that each propellant can develop a horizontal force and a vertical force independently of the other. Thanks to the two thrusters, the vehicle can therefore be subjected to a yaw moment around the vertical axis of the vehicle and to a roll moment around the longitudinal axis of the vehicle.
Il est également connu, selon les documents US-A-3.750.203 et US-A-2.143.656 de monter deux paires de propulseurs à l'avant du véhicule et à l'arrière du véhicule. Dans chacune des deux paires, les deux propulseurs associés fournissent la même poussée. Dans le cas du document US-A-3.750.203, chaque paire est orientable autour d'un axe transversal horizontal et est entraînée en rotation par un moteur ou une commande manuelle. Grâce à cet agencement, le véhicule sous-marin peut être soumis à une force horizontale, une force verticale et à un moment de tangage autour d'un axe transversal horizontal, c'est-à-dire autour d'un axe contenu dans le plan horizontal et perpendiculaire à l'axe longitudinal d'avancement du véhicule.It is also known, according to documents US-A-3,750,203 and US-A-2,143,656, to mount two pairs of thrusters at the front of the vehicle and at the rear of the vehicle. In each of the two pairs, the two associated thrusters provide the same thrust. In the case of document US-A-3,750,203, each pair is orientable around a horizontal transverse axis and is rotated by a motor or a manual control. Thanks to this arrangement, the underwater vehicle can be subjected to a horizontal force, a vertical force and a moment of pitch around a horizontal transverse axis, that is to say around an axis contained in the horizontal plane perpendicular to the longitudinal axis of advancement of the vehicle.
Dans le cas du document US-A-2.143.656, seule la paire avant de propulseurs est orientable de telle sorte que le véhicule peut être soumis à une force horizontale et une force verticale associées à un moment de tangage, ces deux derniers efforts n'étant pas indépendants.In the case of document US-A-2,143,656, only the front pair of thrusters is orientable so that the vehicle can be subjected to a horizontal force and a vertical force associated with a pitching moment, these last two forces n not being independent.
Ainsi, quel que soit l'agencement des propulseurs décrits et représentés dans les quatre documents cités précédemment, il n'est possible d'appliquer au véhicule sous-marin qu'au maximum deux composantes de force et deux composantes de moment.Thus, whatever the arrangement of the thrusters described and represented in the four documents cited above, it is only possible to apply to the underwater vehicle a maximum of two force components and two moment components.
Il est également connu d'équiper un véhicule sous-marin avec des propulseurs verticaux montés dans des tunnels ménagés dans la coque, par exemple à l'avant et à l'arrière afin de commander la montée, la descente ou un changement d'assiette. En procédant ainsi, avec un nombre approprié de propulseurs convenablement disposés, on peut obtenir un nombre correspondant de degrés de liberté, c'est-à-dire de composantes de la force et du moment appliquées au véhicule, égales au nombre de propulseurs.It is also known to equip an underwater vehicle with vertical thrusters mounted in tunnels provided in the hull, for example at the front and at the rear in order to control the ascent, descent or a change of attitude. . By doing so, with an appropriate number of suitably arranged thrusters, one can obtain a corresponding number of degrees of freedom, that is to say components of the force and moment applied to the vehicle, equal to the number of thrusters.
On connaît ainsi l'engin "Sea Owl" construit par la Société SCANDINAVIAN UNDERWATER TECHNOLOGY, qui est équipé de trois propulseurs verticaux, deux propulseurs horizontaux et un propulseur transversal comportant chacun une hélice sous tuyère et un moteur électrique, procurant trois composantes de force et trois composantes de moment lui assurant six degrés de liberté et lui permettant de se mouvoir suivant toute valeur désirée de chacune de ces composantes.We thus know the machine "Sea Owl" built by the Company SCANDINAVIAN UNDERWATER TECHNOLOGY, which is equipped with three vertical thrusters, two horizontal thrusters and a transverse thruster each comprising a propeller under nozzle and an electric motor, providing three components of force and three moment components ensuring it six degrees of freedom and allowing it to move according to any desired value of each of these components.
Un propulseur avec son hélice à pas variable, ou à vitesse variable, et les éventuels carénages de l'hélice et de son moteur constituent un équipement coûteux. Il est donc souhaitable et avantageux de réduire le nombre de propulseurs nécessaire pour donner au véhicule la mobilité voulue.A propellant with its variable pitch propeller, or variable speed propeller, and the possible fairings of the propeller and its engine constitute expensive equipment. It is therefore desirable and advantageous to reduce the number of thrusters necessary to give the vehicle the desired mobility.
L'invention a donc pour but de proposer un dispositif de propulsion pour véhicule sous-marin, du type comportant des propulseurs montés à l'extérieur de la coque chacun sur une extrémité d'un arbre pénétrant dans la coque et rotatif autour d'un axe perpendiculaire à l'axe longitudinal de la coque qui permet d'appliquer au véhicule trois composantes de force et trois composantes de moment de lacet, de roulis et de tangage, c'est-à-dire six degrés de liberté tout en utilisant un nombre réduit de propulseurs.The object of the invention is therefore to propose a propulsion device for an underwater vehicle, of the type comprising thrusters mounted outside the hull each on one end of a shaft penetrating the hull and rotating around a axis perpendicular to the longitudinal axis of the hull which makes it possible to apply to the vehicle three components of force and three components of yaw moment, roll and pitch, that is to say six degrees of freedom while using a reduced number of propellants.
Dans ce but l'invention propose un dispositif de propulsion du type qui vient d'être mentionné, caractérisé en ce que l'un au moins des axes de rotation n'est pas contenu dans le plan horizontal contenant l'axe longitudinal de la coque.For this purpose the invention provides a propulsion device of the type which has just been mentioned, characterized in that at least one of the axes of rotation is not contained in the horizontal plane containing the longitudinal axis of the hull .
Selon d'autres caractéristiques de l'invention :
- le dispositif comporte quatre propulseurs montés orientables aux extrémités opposées de deux arbres montés rotatifs à travers la coque perpendiculairement l'un par rapport à l'autre;
- l'un des deux arbres est perpendiculaire par rapport au plan horizontal contenant l'axe longitudinal;
- l'un des deux arbres forme un angle de 45 degrés par rapport au plan horizontal contenant l'axe longitudinal;
- le dispositif comporte trois propulseurs orientables dont chacun est monté à une extrémité d'un arbre, les trois arbres étant disposés à 120 degrés les uns des autres;
- le dispositif comporte au moins un capteur d'angle associé à chaque propulseur.According to other characteristics of the invention:
- The device comprises four thrusters mounted orientable at opposite ends of two shafts mounted to rotate through the hull perpendicularly to one another;
- one of the two trees is perpendicular to the horizontal plane containing the longitudinal axis;
- one of the two trees forms an angle of 45 degrees relative to the horizontal plane containing the longitudinal axis;
- The device comprises three orientable thrusters each of which is mounted at one end of a shaft, the three shafts being arranged at 120 degrees from each other;
- The device comprises at least one angle sensor associated with each propellant.
La description qui va suivre, en regard des dessins annexés à titre d'exemples non limitatifs, permettra de bien comprendre comment l'invention peut être mise en pratique.
- La figure 1 est une vue en plan de dessus d'un véhicule sous-marin équipé d'un dispositif de propulsion connu de l'état de la technique comportant deux propulseurs latéraux montés orientables sur un arbre transversal.
- La figure 2 est une vue en élévation du véhicule de la figure 1 avec les propulseurs inclinés à 45 degrés par rapport au plan horizontal de la coque.
- La figure 3 est une vue en bout d'arrière d'un véhicule suivant l'invention, équipé de quatre propulseurs orientables montés deux à deux sur deux arbres transversaux dont l'un est contenu dans le plan horizontal de la coque et dont l'autre s'étend verticalement.
- La figure 4 est une vue analogue à celle de la figure 3 montrant un autre mode de réalisation de l'invention dans lequel chacun des deux arbres forme un angle de 45 degrés par rapport au plan horizontal de la coque.
- La figure 5 est une vue en bout d'arrière d'un véhicule selon l'invention comportant un dispositif de propulsion à trois propulseurs montés sur trois arbres inclinés de 120 degrés les uns par rapport aux autres, l'un d'entre eux étant perpendiculaire au plan horizontal de la coque.
- Figure 1 is a top plan view of an underwater vehicle equipped with a propulsion device known from the prior art comprising two lateral thrusters mounted orientable on a transverse shaft.
- Figure 2 is an elevational view of the vehicle of Figure 1 with the thrusters inclined at 45 degrees relative to the horizontal plane of the hull.
- Figure 3 is a rear end view of a vehicle according to the invention, equipped with four adjustable thrusters mounted two by two on two transverse shafts, one of which is contained in the horizontal plane of the hull and whose another extends vertically.
- Figure 4 is a view similar to that of Figure 3 showing another embodiment of the invention in which each of the two shafts forms an angle of 45 degrees relative to the horizontal plane of the hull.
- Figure 5 is a rear end view of a vehicle according to the invention comprising a propulsion device with three propellers mounted on three shafts inclined 120 degrees relative to each other, one of them being perpendicular to the horizontal plane of the hull.
En se référant à la figure 1, on a représenté un véhicule sous-marin du type de celui connu du document FR-A-1.277.356, désigné dans son ensemble par la référence 1 et qui comporte un corps, ou coque, 2 ayant une partie avant hémisphérique 3 et une partie arrière fuselée 4 pourvue d'un empennage en croix 5 lui assurant une stabilité de route en lacet et en tangage. Par lacet, il faut comprendre les mouvements du véhicule dans son plan horizontal normal d'avancement qui, à la figure 1, est parallèle au plan de la feuille. Les mouvements de tangage du véhicule sont ceux qu'il effectue dans un plan perpendiculaire à son plan horizontal d'avancement.Referring to Figure 1, there is shown an underwater vehicle of the type known from document FR-A-1,277,356, generally designated by the reference 1 and which comprises a body, or hull, 2 having a
On a représenté à la figure 2 l'axe longitudinal X-X d'avancement normal du véhicule, qui passe par le centre de volume O du véhicule et qui correspond à la trace latérale du plan horizontal de la coque.FIG. 2 shows the longitudinal axis XX of normal advancement of the vehicle, which passes through the center of volume O of the vehicle and which corresponds to the lateral trace of the horizontal plane of the hull.
Selon cette conception, le véhicule 1 est pourvu de deux propulseurs carénés 6A et 6B respectivement babord et tribord, montés orientables autour d'un axe géométrique perpendiculaire à l'axe longitudinal X-X du véhicule, aux extrémités d'un arbre transversal rotatif 7 s'étendant complètement à travers la coque 2.According to this design, the vehicle 1 is provided with two faired
L'arbre 7 est entraîné en rotation au moyen d'un dispositif d'entraînement 8 agencé à l'intérieur de la coque et adapté pour être commandé de manière à régler avec précicision la position angulaire des propulseurs par rapport au plan horizontal de la coque, au moyen d'un capteur d'angle 9.The
De préférence l'arbre 7 passe par le centre de volume O du véhicule, et un certain espace est prévu entre la coque 2 du véhicule et les corps des propulseurs 6A, 6B afin de faciliter les écoulements hydrodynamiques lorsque les propulseurs sont orientés autour de l'axe de l'arbre 7.Preferably the
La figure 2 montre le véhicule 1 lorsque les propulseurs sont inclinés d'un angle α par rapport à l'axe longitudinal X-X.FIG. 2 shows the vehicle 1 when the thrusters are inclined at an angle α relative to the longitudinal axis X-X.
Le vecteur OV d'avancement se trouve alors légèrement au-dessous des vecteurs de poussée OT des deux propulseurs en raison de là traînée hydrodynamique du véhicule.The advancement vector OV is then slightly below the thrust vectors OT of the two thrusters due to the hydrodynamic drag of the vehicle.
On obtient également des composantes de forces horizontale et verticale comme dans le cas d'un véhicule équipé de deux propulseurs horizontaux fixes et d'un ou deux propulseurs verticaux montés en tunnel dans le corps du véhicule, le nombre de propulseurs étant ici réduit à deux au lieu de trois ou quatre mais sans que l'on obtienne trois composantes de forces et trois composantes de moments, c'est-à-dire six degrés de liberté.Horizontal and vertical force components are also obtained, as in the case of a vehicle equipped with two fixed horizontal thrusters and one or two vertical thrusters mounted in a tunnel in the body of the vehicle, the number of thrusters here being reduced to two. instead of three or four but without obtaining three components of forces and three components of moments, that is to say six degrees of freedom.
Afin de résoudre ce problème, l'invention propose par exemple un véhicule du type de celui représenté à la figure 3 qui comporte un dispositif double par rapport à celui de la figure 1, c'est-à-dire deux ensembles à deux propulseurs 6A, 6B et 10A, 10B montés deux à deux orientables aux extrémités opposées de deux arbres 7 et 11, qui sont perpendiculaires à l'axe longitudinal X-X du véhicule. L'axe géométrique de l'arbre 7 s'étend, comme dans le cas du véhicule représenté aux figures 1 et 2, dans le plan horizontal de la coque, tandis que l'axe géométrique de l'arbre 11 est vertical, c'est-à-dire qu'il s'étend dans un plan perpendiculaire au plan horizontal de la coque.In order to solve this problem, the invention proposes for example a vehicle of the type represented in FIG. 3 which comprises a device double compared to that of FIG. 1, that is to say two sets with two
Grâce à ce mode de réalisation on obtient trois composantes de force et trois composantes de moment, c'est-à-dire les six degrés de liberté recherchés.Thanks to this embodiment, three force components and three moment components are obtained, that is to say the six degrees of freedom sought.
L'obtention d'une force de propulsion latérale est particulièrement avantageuse quand, avec une vitesse d'avancement faible ou nulle et en présence d'un courant sous-marin transversal, on souhaite conserver au véhicule une orientation constante, par exemple pour l'axe de visée d'une caméra ou d'un sonar qui équipe le véhicule.Obtaining a lateral propulsion force is particularly advantageous when, with a low or zero forward speed and in the presence of a transverse underwater current, it is desired to keep the vehicle a constant orientation, for example for the line of sight of a camera or sonar which equips the vehicle.
La force latérale est également utile dans le cas de panne de l'un des propulseurs latéraux. Le véhicule se met alors en effet "en dérapage" et il apparaît une force de portance hydrodynamique latérale qui peut être équilibrée par la force de propulsion latérale. Réciproquement, les propulseurs latéraux peuvent pallier une panne de l'un des propulseurs supérieur ou inférieur 10A, 10B.Lateral force is also useful in the event of a failure of one of the lateral thrusters. The vehicle then goes into "skid" and a lateral hydrodynamic lift force appears which can be balanced by the lateral propulsion force. Conversely, the lateral thrusters can compensate for a failure of one of the upper or
L'obtention d'un moment de tangage est avantageuse car elle permet d'orienter l'engin pour une visée sous-marine, ou lorsque la vitesse d'avancement est importante, pour faciliter des variations d'immersion rapides.Obtaining a pitching moment is advantageous because it makes it possible to orient the machine for underwater aiming, or when the forward speed is high, to facilitate rapid immersion variations.
Pour obtenir ces six degrés de liberté, un véhicule à propulseurs fixes devrait être équipé de six propulseurs disposés de façon appropriée, comme l'engin "Sea owl" précité. Grâce à l'agencement suivant ce premier mode de réalisation de l'invention, il suffit de quatre propulseurs entraînés par deux moteurs et munis de deux capteurs d'angle.To obtain these six degrees of freedom, a vehicle with fixed propellers should be equipped with six propellants arranged in an appropriate manner, like the aforementioned "Sea owl". Thanks to the arrangement according to this first embodiment of the invention, it suffices from four thrusters driven by two motors and provided with two angle sensors.
On notera toutefois que ce mode de réalisation, de même que celui qui sera décrit maintenant, n'est pas limité à l'agencement des propulseurs deux à deux sur un arbre unique, chacun des deux arbres pouvant être en fait constitué par deux demi-arbres d'axes géométriques confondus et entraînès en rotation indépendamment l'un de l'autre.Note, however, that this embodiment, as well as that which will now be described, is not limited to the arrangement of the thrusters two by two on a single shaft, each of the two shafts can in fact be constituted by two half trees of geometrical axes combined and driven in rotation independently of each other.
Le mode de réalisation de l'invention représenté à la figure 4 est analogue à celui de la figure 3, à la seule différence que les arbres 7′ et 11′ perpendiculaires entre eux sont chacun incliné de 45 degrés par rapport au plan horizontal de la coque et donc par rapport au mode de réalisation précédent. Les résultats obtenus dans les mouvements de commande sont identiques, mais le dessus et le dessous du véhicule sont dégagés, ce qui permet le montage d'appareils et de charges diverses, par exemple de charges larguables. On remarque également que l'empennage en croix 5 est bien entendu également décalé à 45 degrés par rapport au mode de réalisation précédent.The embodiment of the invention shown in Figure 4 is similar to that of Figure 3, with the only difference that the
Dans le mode de réalisation représenté à la figure 5, le véhicule comporte seulement trois propulseurs 12, 13 et 14. Chacun des propulseurs est monté à l'extrémité d'un arbre, les trois arbres étant répartis angulairement à 120 degrés l'un de l'autre autour de l'axe d'avancement X-X du véhicule.In the embodiment shown in FIG. 5, the vehicle comprises only three
Le propulseur supérieur 12 est monté à l'extrémité de l'un des trois arbres qui est vertical et donc perpendiculaire au plan horizontal de la coque du véhicule.The
Le véhicule comporte à l'arrière trois ailerons 5′ également espacés de 120 degrés, dans les plans bisecteurs des angles séparant les axes géométriques des trois arbres et des propulseurs.The vehicle comprises at the rear three
Chaque propulseur est entraîné par un moteur individuel 15, avec un capteur d'angle 16, logé dans une cavité appropriée et étanche de la coque.Each thruster is driven by an
Comme les précédents, ce mode de réalisation de l'invention procure six degrés de liberté avec l'avantage supplémentaire de ne nécessiter que trois propulseurs.Like the previous ones, this embodiment of the invention provides six degrees of freedom with the additional advantage of requiring only three thrusters.
L'invention trouve une application particulière sur tous les véhicules sous-marins, notamment ceux destinés aux observations et interventions sur des objets localisés en pleine eau ou au fond de la mer.The invention finds particular application on all underwater vehicles, in particular those intended for observations and interventions on objects located in open water or at the bottom of the sea.
On remarquera que le dispositif de propulsion suivant l'invention permet d'orienter tous les propulseurs parallèlement à l'axe longitudinal X-X du véhicule lorsque l'on souhaite obtenir une vitesse d'avancement élevée, ce qui n'est pas possible lorsque des propulseurs sont montés fixes dans la coque du véhiculeIt will be noted that the propulsion device according to the invention makes it possible to orient all the thrusters parallel to the longitudinal axis XX of the vehicle when it is desired to obtain a high forward speed, which is not possible when thrusters are mounted fixed in the vehicle shell
Un autre avantage de l'invention réside dans le fait que les propulseurs sont à peu près orientés dans le sens de la vitesse obtenue, de sorte que leurs hélices travaillent dans les meilleurs conditions de rendement.Another advantage of the invention lies in the fact that the thrusters are roughly oriented in the direction of the speed obtained, so that their propellers work in the best performance conditions.
Claims (5)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8902586 | 1989-02-28 | ||
| FR8902586A FR2643609A1 (en) | 1989-02-28 | 1989-02-28 | PROPELLER DEVICE FOR UNDERWATER VEHICLE |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP0385827A1 true EP0385827A1 (en) | 1990-09-05 |
Family
ID=9379201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP90400434A Withdrawn EP0385827A1 (en) | 1989-02-28 | 1990-02-16 | Propulsion device for a submarine vehicle |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0385827A1 (en) |
| FR (1) | FR2643609A1 (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0663336A1 (en) * | 1994-01-18 | 1995-07-19 | STN ATLAS Elektronik GmbH | Submersible vehicle |
| US5505155A (en) * | 1993-09-03 | 1996-04-09 | Gec Marconi Ltd. | Submarine propulsion system |
| DE19503087A1 (en) * | 1995-02-01 | 1996-08-08 | Gilbert Dr Duong | Shoe for walking on water |
| WO1997010994A1 (en) * | 1995-09-21 | 1997-03-27 | Gec-Marconi Limited | Submarine propulsion system |
| FR2742120A1 (en) * | 1995-12-08 | 1997-06-13 | Eca | Submarine vessel with propeller units mounted on projecting arms |
| FR2796917A1 (en) * | 1999-07-29 | 2001-02-02 | Andre Schaer | REMOTE MOBILE PLATFORM FOR EVOLUTION IN A MEDIUM SUCH AS WATER OR AIR |
| US6572422B2 (en) * | 2000-10-10 | 2003-06-03 | Monterey Bay Aquarium Research Institute (Mbari) | Tail assembly for an underwater vehicle |
| ES2253960A1 (en) * | 2002-07-16 | 2006-06-01 | Universidad Politecnica De Madrid | Parallel high rigging and sliding robot for performing work on structures or surfaces immersed underwater, has flippers for stability and navigation control attached to robotic rings |
| CN100383020C (en) * | 2005-07-11 | 2008-04-23 | 李烨 | Small underwater robot |
| US7540255B2 (en) * | 2005-08-23 | 2009-06-02 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| CN101913418A (en) * | 2010-08-26 | 2010-12-15 | 华南理工大学 | Multi-degree-of-freedom water-jet propulsion cable remote underwater robot |
| CN101916117A (en) * | 2010-07-09 | 2010-12-15 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
| CN102020010A (en) * | 2009-09-23 | 2011-04-20 | 田晓江 | Wing-type symmetric controllable propeller for naval ships, vessels and submarines |
| CN101513926B (en) * | 2009-03-20 | 2012-09-05 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propulsion device used in underwater propeller |
| CN102774487A (en) * | 2012-07-31 | 2012-11-14 | 房克聚 | Composite indirect shafting transmission system |
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| CN104477359A (en) * | 2014-10-27 | 2015-04-01 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multi-degree-of-freedom vectored thrust layout method |
| CN105539781A (en) * | 2015-12-07 | 2016-05-04 | 广州丰谱信息技术有限公司 | Axial orthogonal adjustable propeller array-based underwater unmanned detector |
| CN105564620A (en) * | 2015-12-24 | 2016-05-11 | 佛山市神风航空科技有限公司 | Submarine adopting propellers with annular flat plate blades |
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| CN110040229A (en) * | 2018-06-04 | 2019-07-23 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| KR20210067115A (en) * | 2019-11-29 | 2021-06-08 | 국방과학연구소 | Small Underwater Vehicle having a hovering system using the tube type launcher and Method for assembling the same |
| CN113120197A (en) * | 2021-04-12 | 2021-07-16 | 南方科技大学 | Underwater power module, underwater power system and underwater robot |
| CN114455039A (en) * | 2022-02-25 | 2022-05-10 | 哈尔滨工程大学 | Turtle-like underwater shooting robot |
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| CN105501418B (en) * | 2015-12-22 | 2017-09-01 | 极翼机器人(上海)有限公司 | A kind of diving outfit |
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| DE4431186B4 (en) * | 1993-09-03 | 2005-10-27 | Bae Systems Electronics Ltd., Farnborough | Underwater propulsion system |
| US5505155A (en) * | 1993-09-03 | 1996-04-09 | Gec Marconi Ltd. | Submarine propulsion system |
| DE4401309A1 (en) * | 1994-01-18 | 1995-07-20 | Nord Systemtechnik | Underwater vehicle |
| EP0663336A1 (en) * | 1994-01-18 | 1995-07-19 | STN ATLAS Elektronik GmbH | Submersible vehicle |
| DE19503087A1 (en) * | 1995-02-01 | 1996-08-08 | Gilbert Dr Duong | Shoe for walking on water |
| WO1997010994A1 (en) * | 1995-09-21 | 1997-03-27 | Gec-Marconi Limited | Submarine propulsion system |
| FR2742120A1 (en) * | 1995-12-08 | 1997-06-13 | Eca | Submarine vessel with propeller units mounted on projecting arms |
| FR2796917A1 (en) * | 1999-07-29 | 2001-02-02 | Andre Schaer | REMOTE MOBILE PLATFORM FOR EVOLUTION IN A MEDIUM SUCH AS WATER OR AIR |
| WO2001008969A1 (en) * | 1999-07-29 | 2001-02-08 | Schaer Andre | Remote-controlled mobile platform capable of operating in water or air environment |
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| ES2253960A1 (en) * | 2002-07-16 | 2006-06-01 | Universidad Politecnica De Madrid | Parallel high rigging and sliding robot for performing work on structures or surfaces immersed underwater, has flippers for stability and navigation control attached to robotic rings |
| CN100383020C (en) * | 2005-07-11 | 2008-04-23 | 李烨 | Small underwater robot |
| US7540255B2 (en) * | 2005-08-23 | 2009-06-02 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| US7707958B2 (en) | 2005-08-23 | 2010-05-04 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| US7845303B2 (en) | 2005-08-23 | 2010-12-07 | Hawkes Calvert T | Remotely operated underwater vehicle |
| CN101513926B (en) * | 2009-03-20 | 2012-09-05 | 中国人民解放军国防科学技术大学 | Tilt rotor vector propulsion device used in underwater propeller |
| CN102020010A (en) * | 2009-09-23 | 2011-04-20 | 田晓江 | Wing-type symmetric controllable propeller for naval ships, vessels and submarines |
| CN101916117B (en) * | 2010-07-09 | 2012-02-01 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
| CN101916117A (en) * | 2010-07-09 | 2010-12-15 | 哈尔滨工程大学 | Control method of coordinated movement of multiple cylinders of submersible omnibearing propeller |
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| CN102774487A (en) * | 2012-07-31 | 2012-11-14 | 房克聚 | Composite indirect shafting transmission system |
| CN104477359B (en) * | 2014-10-27 | 2016-08-24 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multiple degrees of freedom vector propulsion layout method |
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| CN104369849A (en) * | 2014-10-30 | 2015-02-25 | 江苏科技大学 | Tilt rotor submersible device |
| CN105539781A (en) * | 2015-12-07 | 2016-05-04 | 广州丰谱信息技术有限公司 | Axial orthogonal adjustable propeller array-based underwater unmanned detector |
| CN105564620A (en) * | 2015-12-24 | 2016-05-11 | 佛山市神风航空科技有限公司 | Submarine adopting propellers with annular flat plate blades |
| DE102017115606A1 (en) * | 2017-07-12 | 2019-01-17 | Atlas Elektronik Gmbh | Underwater body for ejection from an aircraft |
| US11046402B2 (en) | 2017-07-12 | 2021-06-29 | Atlas Elektronik Gmbh | Underwater vehicle, which swivels a drive upon immersion into a body of water |
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN108674614A (en) * | 2018-05-27 | 2018-10-19 | 张军 | A kind of quadruple screw propeller submarine navigation device and its control method |
| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
| CN110040229A (en) * | 2018-06-04 | 2019-07-23 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| KR20210067115A (en) * | 2019-11-29 | 2021-06-08 | 국방과학연구소 | Small Underwater Vehicle having a hovering system using the tube type launcher and Method for assembling the same |
| US11597484B2 (en) | 2019-11-29 | 2023-03-07 | Agency For Defense Development | Small underwater vehicle having a hovering system using the tube type launcher and method for assembling the same |
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Also Published As
| Publication number | Publication date |
|---|---|
| FR2643609A1 (en) | 1990-08-31 |
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