EP0847361B1 - Systeme de propulsion sous-marin - Google Patents

Systeme de propulsion sous-marin Download PDF

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Publication number
EP0847361B1
EP0847361B1 EP96929423A EP96929423A EP0847361B1 EP 0847361 B1 EP0847361 B1 EP 0847361B1 EP 96929423 A EP96929423 A EP 96929423A EP 96929423 A EP96929423 A EP 96929423A EP 0847361 B1 EP0847361 B1 EP 0847361B1
Authority
EP
European Patent Office
Prior art keywords
thrust
vehicle
units
unit
linkage mechanism
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 - Lifetime
Application number
EP96929423A
Other languages
German (de)
English (en)
Other versions
EP0847361A1 (fr
Inventor
Richard Adams
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems Electronics Ltd
Original Assignee
Marconi Electronic Systems Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Marconi Electronic Systems Ltd filed Critical Marconi Electronic Systems Ltd
Publication of EP0847361A1 publication Critical patent/EP0847361A1/fr
Application granted granted Critical
Publication of EP0847361B1 publication Critical patent/EP0847361B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines
    • 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

  • This invention relates to a submarine propulsion system and specifically but not exclusively to a submarine propulsion system for an expendable unmanned underwater vehicle.
  • a further disadvantage is that the time taken to dispose of a mine is by these conventional methods is quite long due to the need to get the diver or submersible to a safe distance before detonating the charge and the need for the diver or submersible to return to the mother ship, which must always remain at a safe distance from the mine throughout the operation, to pick up further explosive charges. Since the combined explosive effect of the mine warhead and the disposal charge may be very great the safe distance is relatively large.
  • UK Patent Application Publication Number GB 2281538 attempts to solve the above mentioned problems.
  • This earlier patent application discloses two embodiments, each comprising an unmanned underwater vehicle, cylindrical in shape, propelled by two propellers mounted on arms on either side of the cylindrical body.
  • the arms can be rotated such that the propellers can either be faced in a forward direction, in order to propel the vehicle forwards, or in a vertical direction such as to raise or lower the vehicle, the vehicle having a negative buoyancy.
  • the arms on which the thrust units are mounted are biased by a spring to a position whereby thrust is generated in a vertical direction.
  • the spring bias is overcome by the force on the arms and these pivot to a position where the thrust is directed in a rearward direction propelling the vehicle forward.
  • the direction of the thrust units is changed from vertical to horizontal by a transducer within the hull of the vehicle which rotates a shaft through 90° on which the arms are mounted.
  • Another advantage of using a directional shaped charge is that even if used against a conventional mine a smaller charge can be used than would be required to ensure a sympathetic detonation and therefore the size of the vehicle carrying the charge can be reduced. This results in a cheaper mine destruction vehicle and also enables more vehicles to be carried by mine clearance vessels. It may also enable the vehicle to be small enough to be deployed from a helicopter.
  • a submarine propulsion system for a submersible vehicle comprising two thrust units by which the vehicle is propelled, means for varying the thrust of one unit relative to that of the other unit, and a linkage mechanism between the two units arranged such that the orientation of one unit relative to that of the other unit is dependent on the thrust generated by that unit relative to the thrust generated by the other unit.
  • a differential in thrust between the two thrust units is harnessed by the linkage and used to control the orientation of the thrust units. Therefore the position of the thrust units can be controlled without the need to employ any further transducers.
  • the thrust units are located on opposite sides of the vehicle and a component of the thrust is directed by each unit in a vertical direction such as to control the depth of the vehicle, whereby varying the relative thrust between the two units causes the units to direct components of thrust in opposing directions such as to cause the vehicle to rotate in azimuth.
  • a differential in the thrust will tend to cause the vehicle to list, and it is therefore advantageous that the vehicle further comprise means for altering the transverse centre of gravity of the vehicle to compensate for this.
  • the linkage mechanism is arranged such that when low levels of thrust are generated by the units the linkage mechanism causes the units to be oriented so that a substantial component of the thrust from each unit is directed in a direction perpendicular to the major axis of the vehicle, and such that when high levels of thrust are generated by the units the linkage mechanism causes the units to be oriented so that a substantial component of the thrust generated by each unit is an axial direction relative to the major axis of the vehicle.
  • the orientation of the vehicle can then be controlled by controlling the differential thrust between the two units.
  • the orientation of the units is dependent on the difference in thrust between the units, and at higher levels of thrust the linkage mechanism locks the relative position of the units such that the thrust from each unit is in the same direction. This enables the vehicle to be steered while travelling in a forward direction by applying a differential thrust between the units without any alteration in the position of the thrust units occurring, which would otherwise make the vehicle difficult to steer.
  • a remotely operated underwater vehicle incorporating the above propulsion system preferably carrying an integral shaped charge warhead.
  • a vehicle embodying such a propulsion system enables the warhead to be correctly positioned relative to a mine to be destroyed.
  • FIG. 1A there is illustrated a front view and a side view of an unmanned submersible mine counter-measures vehicle 1 comprising a hull 2 incorporating a shaped charge warhead 3 (omitted from subsequent figures), to be positioned facing a mine, and two thrust units 4 and 5.
  • Each thrust unit 4, 5 comprises an electric motor and small propeller but could be any other suitable form of thrust unit.
  • Each thrust unit 4, 5 is connected by a respective motor arm 6, 7 to the hull 2 of the vehicle.
  • the thrust units 4, 5 are depicted in a forward position in which position the vehicle will be propelled in a forward direction.
  • the thrust units 4, 5 are illustrated in a vertical position whereby control of the thrust will raise, lower or maintain the position of the vehicle 1 which has a negative buoyancy.
  • the thrust units are illustrated in a position which will be adopted when a differential low level thrust is applied. In this position thrust unit 4 will provide a forward component while thrust unit 5 provides a rearward component rotating the vehicle in azimuth as indicated by arrow 8. For the thrust units to adopt this position the thrust on unit 4 must be greater than that on thrust unit 5 which will tend to cause the vehicle to list as indicated by arrows 9 and 10. To maintain an upright position a mass within the vehicle is moved such as to shift the centre of gravity in a direction indicated by arrow 11.
  • FIG. 2 there is shown the linkage mechanism indicated generally as 14 by which motor arms 6 and 7 are connected to the hull 2, indicated by the broken lines, of the vehicle 1.
  • the thrust units are mounted on the ends of the arms 6 and 7 and exert a force on the arms in the direction indicated by arrows 15.
  • the working of the linkage mechanism 14 will be better understood from a study of Figure 3 which illustrates the various components of the mechanism.
  • the two motor arms 6 and 7 are mounted via respective brackets 16 and 17 on respective spindles 18 and 19 which fit into traverse tube 20.
  • the arms 6 and 7 are linked by differential link 21 which has spherical ends which locate in holes in brackets 16 and 17.
  • the differential link 21 pivots about pivot pin 22 at its centre which protrudes from pivot plate 23.
  • the pivot plate 23 is itself free to rotate about traverse tube 20. Because the differential link 21 is pivoted on pin 22, which is in turn held in position by pivot plate 23, the arms 6 and 7 are constrained by brackets 16 and 17 such that they can only move in opposite directions to one another, unless the differential link is displaced, the whole assembly being held together by rod 24 and nuts 25 and 26.
  • the rod 24 passes through brackets 16 and 17, spindles 18 and 19, tube 20 and base plate 32.
  • the arms 6 and 7 are further constrained by pins 27 and 28 which extend from respective mounting brackets 16 and 17 and engage in slots 29 in the pivot plate 23, only one of which can be seen. These slots restrict the total differential movement to approximately ⁇ 15°.
  • Torsion spring 30 acts between flange 31 of base plate 32, which is mounted to the vehicle, and spring plate 33, the spring engaging in hole 34 of the spring plate, as can be more clearly seen from Figure 2.
  • the spring urges the tail piece 35 of the spring plate 33 against the differential link 21 which urges both arms 6 and 7 into the position illustrated in Figure 2, and also Figure 1B, which position is referred to as the hover position.
  • a differential, relatively low level thrust is applied the difference in the turning forces applied to each bracket 16 and 17 will cause the differential link pin 21 to pivot about the pivot pin 22 causing the differential link pin 21 to be urged against one side of the tail piece 35 of the spring plate 33.
  • the spring plate 33 will urge the differential link back into a centring position when the thrust is equalised.
  • Figure 4A there is shown the arrangement inside the hull 2 of the vehicle 1 by which the centre of gravity of the vehicle can be moved both transversely and axially.
  • Figure 4B is a cross section along the line IV-IV of Figure 4A.
  • a central rod 40 to which sprocket 41 is attached.
  • the rod which forms the main chassis of the vehicle also supports gantry 42 via brackets 43.
  • the gantry 42 supports a relatively large mass 44, typically the battery power pack for the vehicle, by means of runners 45.
  • the gantry also supports a motor 46 for driving sprocket 47 which is connected to sprocket 41 via chain 48. Operation of the motor 46 causes the gantry and associated mass 44 to be rotated about spindle 40 which thereby traversely shifts the centre of mass within the hull.
  • the gantry 42 also supports actuator 49 which rotates quadrant 50.
  • Quadrant 50 is attached at point 51 to cord 52 which runs along the edge of the quadrant 50 and is attached to the mass at 53.
  • cord 54 is attached to the quadrant at point 55 and the mass at point 56. Rotation of the quadrant causes the mass to move forward and aft within the vehicle shifting the centre of gravity accordingly.
  • the position of the mass can also be controlled by actuator 49 and motor 46 to permit other manoeuvres to be performed in the hover position, that is when the thrust units are in a vertical position relative to the main axes of the vehicle.
  • arrows 57 indicate the direction in which the centre of mass of the vehicle has been moved in order to adopt the orientation shown.
  • Arrows 58 indicate the direction in which the vehicle 1 will move. From Figure 5A it is seen that if the centre of mass is displaced aft then the thrust units 4, 5 which act against the negative buoyancy of the vehicle to control its vertical position will exert a component of thrust forward and will slowly move the vehicle 1 backwards. Similarly, as illustrated in Figure 5B, if the centre of mass is moved forward the thrust units 4, 5 will move the vehicle forward.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Claims (10)

  1. Système de propulsion sous-marin pour un véhicule submersible, le système comprenant deux unités de poussée (4,5), à l'aide desquelles le véhicule (1) est propulsé, et des moyens pour modifier la poussée d'une unité par rapport à celle de l'autre unité, caractérisé on ce qu'il comporte en outre un mécanisme de liaison (14) disposé entre les deux unités (4,5) et agencé de telle sorte que l'orientation d'une unité par rapport à l'autre unité dépend de la poussée produite par cette unité par rapport à la poussée produite par l'autre unité.
  2. Système selon la revendication 1, dans lequel les unités de poussée sont situées sur les côtés opposés du véhicule et une composante de la poussée est dirigée par chaque unité dans une direction verticale de manière à régler la profondeur du véhicule, ce qui a pour effet qu'une modification de la position relative entre les deux unités amène ces dernières à diriger des composantes de poussée dans des directions opposées de manière à provoquer une rotation du véhicule en azimut.
  3. Système selon la revendication 2, comprenant en outre des moyens (43,44,46,48) pour modifier le centre de gravité transversal du véhicule pour compenser toute poussée différentielle appliquée.
  4. Système selon l'une quelconque des revendications précédentes, dans lequel le mécanisme de liaison est agencé de telle sorte que lorsque de faibles niveaux de poussée sont produits par les unités, le mécanisme de liaison amène les unités à s'orienter de telle sorte qu'une composante substantielle de la poussée produite par chaque unité est dirigée dans une direction perpendiculaire à l'axe principal du véhicule, et de telle sorte que lorsque des niveaux élevés de poussée sont produits par les unités, le mécanisme de liaison amène les unités à s'orienter de telle sorte qu'une composante substantielle de la poussée produite par chaque unité est dirigée dans ne direction axiale par rapport à l'axe principal du véhicule.
  5. Système selon la revendication 4, dans lequel pour de faibles niveaux de poussée, l'orientation des unités dépend de la différence de poussée entre ces unités, et dans lequel pour des niveaux plus élevés de poussée, le mécanise de liaison bloque la position relative des unités de telle sorte que les poussées produites par les unités s'étendent dans la même direction.
  6. Système selon l'une quelconque des revendications précédentes, dans lequel pour de faibles niveaux de poussée, le mécanisme de liaison amène les unités dans une position, dans laquelle les poussées produites par les unités sont parallèles.
  7. Véhicule sous-marin actionné à distance comprenant un système de propulsion tel que revendiqué dans l'une quelconque des revendications précédentes.
  8. Système selon la revendication 7, comprenant en outre une tête de combat pour la destruction de mines.
  9. Véhicule selon la revendication 8, dans lequel la tête de combat est une charge creuse intégrale.
  10. Mécanisme de liaison pour un système de propulsion sous-marin tel que revendiqué selon l'une quelconque des revendications 1 à 6.
EP96929423A 1995-09-21 1996-09-05 Systeme de propulsion sous-marin Expired - Lifetime EP0847361B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9519307 1995-09-21
GB9519307A GB2305411B (en) 1995-09-21 1995-09-21 Submarine propulsion system
PCT/GB1996/002185 WO1997010994A1 (fr) 1995-09-21 1996-09-05 Systeme de propulsion sous-marin

Publications (2)

Publication Number Publication Date
EP0847361A1 EP0847361A1 (fr) 1998-06-17
EP0847361B1 true EP0847361B1 (fr) 1999-12-22

Family

ID=10781069

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96929423A Expired - Lifetime EP0847361B1 (fr) 1995-09-21 1996-09-05 Systeme de propulsion sous-marin

Country Status (8)

Country Link
EP (1) EP0847361B1 (fr)
JP (1) JP2000500087A (fr)
AU (1) AU704778B2 (fr)
CA (1) CA2232087A1 (fr)
DE (1) DE69605806T2 (fr)
GB (1) GB2305411B (fr)
NO (1) NO981313D0 (fr)
WO (1) WO1997010994A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9806340D0 (en) * 1998-03-26 1998-05-20 Weatherburn Robert Versatile autonomous underwater vehicle
DE102004062124B3 (de) * 2004-12-23 2006-06-22 Atlas Elektronik Gmbh Einrichtung und Verfahren zum Tracken eines Unterwasserfahrzeugs
EP3331756A4 (fr) * 2015-08-03 2019-03-27 Apium Inc. Drone aquatique
DE102017115606A1 (de) * 2017-07-12 2019-01-17 Atlas Elektronik Gmbh Unterwasserkörper zum Abwurf aus einem Luftfahrzeug

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR364727A (fr) * 1906-03-29 1906-08-27 John Milton Cage Système d'immersion pour bateaux sous-marins
US2873710A (en) * 1956-03-06 1959-02-17 Stanley L Morel Submarine attitude control system
US3148650A (en) * 1961-12-01 1964-09-15 Gen Dynamics Corp Submarine vessel
DE3826653C1 (fr) * 1988-08-05 1989-12-07 Rheinmetall Gmbh, 4000 Duesseldorf, De
FR2643609A1 (fr) * 1989-02-28 1990-08-31 Eca Dispositif propulseur pour vehicule sous-marin
US5349915A (en) * 1993-06-11 1994-09-27 Battelle Memorial Institute Submersible trim system
GB2281538B (en) * 1993-09-03 1996-11-13 Marconi Gec Ltd Submarine propulsion system

Also Published As

Publication number Publication date
DE69605806T2 (de) 2000-05-18
GB2305411A (en) 1997-04-09
EP0847361A1 (fr) 1998-06-17
GB2305411B (en) 1999-02-10
WO1997010994A1 (fr) 1997-03-27
JP2000500087A (ja) 2000-01-11
NO981313L (no) 1998-03-23
AU704778B2 (en) 1999-05-06
AU6883596A (en) 1997-04-09
GB9519307D0 (en) 1996-04-24
DE69605806D1 (de) 2000-01-27
NO981313D0 (no) 1998-03-23
CA2232087A1 (fr) 1997-03-27

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