EP3127802B1 - Vorrichtung zur automatischen steuerung von auftrieb, krängung, trimmung, tiefe und höhe in unterwasserfahrzeugen - Google Patents

Vorrichtung zur automatischen steuerung von auftrieb, krängung, trimmung, tiefe und höhe in unterwasserfahrzeugen Download PDF

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Publication number
EP3127802B1
EP3127802B1 EP14835678.5A EP14835678A EP3127802B1 EP 3127802 B1 EP3127802 B1 EP 3127802B1 EP 14835678 A EP14835678 A EP 14835678A EP 3127802 B1 EP3127802 B1 EP 3127802B1
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Prior art keywords
previous
tanks
correction
trim
heel
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EP14835678.5A
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English (en)
French (fr)
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EP3127802A1 (de
Inventor
Fernando Jorge RAMA SEABRA SANTOS
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Friday Ciencia E Engenharia Do Lazer SA
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Friday Ciencia E Engenharia Do Lazer SA
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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
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/26—Trimming equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Definitions

  • the present description falls within the technical field of solutions of motion and equilibrium control of submersible vehicles, namely in terms of their heel, trim, depth and altitude, evidencing an automated operation solution of that type of vehicles.
  • submersible vehicles Upon completion of immersion manoeuvres, submersible vehicles are subject to various factors which can affect their stabilization in the liquid mass, making their navigation or their operability difficult and putting at risk the comfort or even the safety of their occupants.
  • the most common causes of change of the equilibrium conditions are variation of the density of the aquatic environment, as a result of temperature and/or pressure and/or water salinity changes, loss of vehicle weight by the elimination of products or consumables loss and the variation of their volume as a consequence of the modification the external pressure caused by the depth variation.
  • the variation of the internal distribution of weights during a mission can cause changes to the trim and heel angles which are also drawbacks to the vehicle navigation.
  • document GB191422337A describes a trim compensation system, via tanks situated towards the bow and the stern of a submarine, the trim compensation being secured by water pumping to said tanks.
  • the automatic correction of the heel and trim angles are not predicted nor can be achieved with this document, what highly reduces the interest of its application to small submarines, submarine vehicles remotely operated and autonomous submarine vehicles.
  • Document US2012/0128425 A1 describes a device to buoyancy compensation which allows a diver or a submersible object to reach or keep a predetermined depth, regardless of the orientation or direction of said diver or submersible object.
  • the automatic correction of the heel and trim angles are not predicted nor can be achieved with this document, what highly reduces the interest of its application to small submarines, submarine vehicles remotely operated and autonomous submarine vehicles.
  • Document US2003/0075096 describes a device for automatic control of buoyancy depth and altitude of a submarine object with a non pressurised tank of liquid ballast.
  • the present solution allows automatically reset the neutral buoyancy of submersible vehicles, as well as automatically correct the heel and trim of a submersible vehicle and, thus, automatically achieve and/or maintain a certain depth or altitude.
  • trim shall be understood as the rotation around the transversal horizontal axis of the submersible vehicle; and heel as the rotation around the longitudinal horizontal axis of the same vehicle.
  • the existing systems are based on the water pumping among tanks which can be subject to an important pressure differential between the exterior and the interior (hard ballast) and have therefore to be pressurised tanks (pressure vessels).
  • the electrovalves used in water drainage have to have considerably higher dimensions and weight than the ones used in air drainage.
  • the operation duration would be up to thirty times longer than the one achieved by the now proposed solution.
  • the now presented solution is based on the drainage control of compressed air. As air density is much inferior to water density in the same temperature and pressure conditions; and a much superior pressure differential being able to be imposed, the air drainage is much faster and has lesser energy losses than the water drainage.
  • the present solution finds application in the submersible vehicles construction industry, like, for instance, submersible vehicles, remotely operated submersible vehicles, submersible autonomous vehicles.
  • the solution now described aims at automatically reseting neutral buoyancy, as well as automatically correcting the heel and trim of a submersible vehicle and, thus, automatically achieving and/or maintaining a certain depth or altitude.
  • buoys In case flexible buoys are chosen, these can be automatically and in an autonomous way partially or totally filled in or emptied, increasing or decreasing the buoyancy of the whole, or even transferring buoyancy from any of them to any other.
  • tanks of liquid ballast these can be automatically and in an autonomous way ballasted or unballasted, increasing or decreasing the weight of the whole, or even transferring weight from any of them to any other.
  • the flexible buoys or tanks of liquid ballast option is, in most of the embodiments below, equivalent. Therefore, for simplification purposes and whenever it is not necessary to distinguish them, only tanks will be referred to in the text.
  • the control unit evaluates and processes the relevant information given by the sensors, calculating the corrections to be made and acting on the solenoide valves to establish the adequate air circuits, during the time frame needed.
  • the buoyancy compensation and the trim correction are made with two ballast tanks.
  • One of the ballast tanks is located on the submersible vehicle stern, while the second ballast tank is located on the bow of the submersible vehicle.
  • the buoyancy compensation and the heel correction are made with two tanks, one of the ballast tanks being now located on the port side of the submersible vehicle, and the second ballast tank located on the starboard side of the submersible vehicle.
  • ballast tank is sufficient, the device being taken to embodiments already known.
  • a device for automatic control of buoyancy, heel, trim, depth and/or altitude in submersible vehicles comprising:
  • the flexible buoys or tanks of liquid ballast are 4.
  • the two directions of the horizontal plane are orthogonal directions.
  • the sections of the submersible vehicle where said tanks of liquid ballast are placed are sections of:
  • the electronic control unit is configured to proceed with the opening and closing of the air inlet and outlet valves for moving up, moving down, maintaining depth, maintaining altitude, obtaining a predefined depth, obtaining a predefined altitude.
  • the electronic control unit is configured to proceed with the opening and closing of the air inlet and outlet valves for correcting the trim and heel angles.
  • valves are solenoid type valves electrically controlled by the electronic control unit.
  • the inlet valve and the outlet valve of a flexible buoy or tank of liquid ballast are in the same valve body.
  • An embodiment additionally comprises circuits with manually operated valves in parallel with each of the electrically controlled circuits.
  • submersible vehicle comprising any of the previous devices for automatic control of buoyancy, heel and trim in submersible vehicles.
  • the submersible vehicle is a submarine with crew or a remotely operated submersible vehicle or a submersible autonomous vehicle.
  • An embodiment comprising three procedure modes: continuing automatic mode; one shot automatic mode, assisted manual mode, relating to a preselected correction or definition procedure comprising buoyancy correction, trim correction, heel correction, depth definition, altitude definition, or their combinations; wherein:
  • the one shot automatic mode can be repeated at the initiative of the operator.
  • the possibility of performing an automatic operation can be deactivated, thus initiating the operation procedure in manual mode and performing the procedures as they are usually performed nowadays, i.e. manually opening or closing mechanical valves and keeping them activated by estimate, by feeling, of the quantities of ballast to move, or until the visual observation of the measurement instruments indicates that the manoeuvre goal has been achieved.
  • a set of sensors permanently feeds a central controller with values of the different navigation parameters.
  • the following parameters are measured and stored:
  • the system predefines a calculation range ( ⁇ t) that the pilot can confirm or modify according to his/her experience or sensitivity. From the measurements made to the instantaneous values of each variable within the sampling interval (between t- ⁇ t and t), the board computer calculates, based on that interval, projects on the screen and permanently updates the average values of the following variables ( Fig.
  • the board computer For the selected time interval ( ⁇ t), the board computer also calculates, at each instant, the average values of the following variables:
  • the correction in water volume by each tank is obtained by the compressed air injection or exhaustion.
  • the system interface with the user is done through a panel, as presented in Fig. 1 .
  • the operation starts with the selection, by the operator, of the kind of manoeuvre which is intended to be performed. There are five options of manoeuvres that can be selected:
  • the system after selection of the intended type of manoeuvre, the system presents three acting modes, namely ( Fig 1 ):
  • the continuing automatic mode (Automatic) and (Go) allows starting and leaving permanently activated the correction procedure of the selected effect(s) (buoyancy compensation, trim correction, heel correction, depth definition or altitude definition). This procedure is automatically restarted with a previously defined periodicity (for instance, every 2 minutes), or whenever the concerned variable is too distant from the previously defined value.
  • the selection of the one shot automatic mode (One shot) and (Go) allows performing at once the simultaneous correction of the selected effect(s), and according to the values posted at the time of activation (Go). It can be repeated by initiative of the pilot, whenever he/she so desires.
  • the choice of the assisted manual mode is only applicable to the three first manoeuvre options (buoyancy compensation, trim correction, heel correction) and allows the pilot to manually define the following points:
  • the key (Go) starts the procedures necessary to the transfer(s) of liquid ballast in the conditions defined by the selected mode.
  • the control unit calculates the predictable flow for each solenoid valve according to the pressure differential and to the other parameters, and will then activate the opening of the adequate valves, as long as needed.
  • All the system valves are, in an embodiment, of two positions (2V/2P) and of the N/C type (usually closed.
  • the answer of the submersible vehicle is permanently monitored through the sensors, whose information can determine the interruption of the operation as soon as the goals are reached.
  • the system can also be deactivated, referring to a type of a fully manual piloting, from mechanical valves.
  • each 2V/2P type valve can be substituted by other equivalent valve, for instance each set of two 2V/2P valves can be substituted by one 3V/3P valve.
  • Figure 1 shows a possible arrangement of the command screen of the system now revealed. At the top of the screen, in a first row, the different manoeuvre types which can be performed are depicted:
  • the second row allows the choice of the desired automation level, among three possible ones:
  • the system depicts the current values of the relevant navigation parameters: depth, altitude, vertical velocity, liquid density, and trim and heel angels.
  • the left-hand side button shows the quantity of water needed to ballast the submarine, in case the vertical speed is positive or when the increase of diving depth or altitude decrease is intended.
  • the inferior right-hand side button shows the quantity of water needed to deballast the submarine, if the vertical speed is negative or when the decrease of diving depth or altitude increase is intended.
  • two dials with two triangular buttons each allow the manual definition of the requested volumes for each transfer or the depth or altitude level at which navigation is intended, in the event of the assisted manual manoeuvre option.
  • the central inferior key (Go), allows starting the selected procedure, in the defined conditions. Finally in the last row, there are two buttons to the left and to the right to cancel the selected definition or the whole previous programming, respectively.
  • FIG. 2 briefly shows the general scheme of the device, in a configuration wherein there are four tanks (T1 to T4). It is represented in the figure: A - Compressed air reservoir; B - Air exhaustion; C - Pressure reduction valve; D - Non-return valve; E - Digital manometer (pressure transmitter); F - Acquisition, data processing and control unit; G - CTD - conductivity, temperature and depth; H - DVL - Doppler velocity logger; I - Manual mechanical valve; J - Solenoid valve 2P/2V.
  • Each tank is connected to two air collectors, wherein one is of high pressure (pressure higher than the external ambient pressure) and another of low pressure (pressure lowerthan the external ambient pressure), via two solenoid valves (J).
  • These valves and also the measurement instruments are connected to a controller, or electronic control unit, which commands their status (open or closed) and the activation time.
  • Figure 3 represents a (schematic) control panel of an embodiment of the automatic compensation device and of automatic correction of the trim and of the heel.
  • FIG. 4 represents an operating scheme of an embodiment of the ballast transfer module among compensation tanks via water pumping.

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

Claims (14)

  1. Vorrichtung zur automatischen Steuerung von Auftrieb, Krängung, Trimmung, Tiefe und Höhe in Unterwasserfahrzeugen, umfassend:
    3 oder mehr drucklose Flüssigballasttanks, mit jeweils einem Lufteinlassventil und einem Luftauslassventil, mit einer elektrischen Steuerung zum Öffnen und Schließen;
    eine elektronische Steuereinheit zum unabhängigen Öffnen und Schließen der Lufteinlass- und Luftauslassventile der Flüssigballasttanks;
    einen Speicher zum Speichern von Druckluft, der mit den Lufteinlassventilen der Flüssigballasttanks verbunden ist;
    wobei die genannten Flüssigballasttanks eine freie Verbindung mit der äußeren Umgebung des Unterwasserfahrzeugs über eine oder mehrere Öffnungen, die im unteren Teil des Tanks angeordnet sind, umfasst;
    und wobei die genannten Flüssigballasttanks in verschiedenen Abschnitten des Unterwasserfahrzeugs in zwei Richtungen entlang der horizontalen Ebene des Unterwasserfahrzeugs angeordnet sind;
    die Vorrichtung so angeordnet ist, dass sie das automatische Beibehalten des neutralen Auftriebs mit der automatischen Korrektur der Krängung- und Trimmungswinkel kombiniert.
  2. Vorrichtung nach dem vorhergehenden Anspruch, wobei es 4 Flüssigballasttanks gibt.
  3. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die beiden Richtungen der horizontalen Ebene rechtwinklige Richtungen sind.
  4. Vorrichtung nach dem vorhergehenden Anspruch, wobei es sich bei den Abschnitten des Unterwasserfahrzeugs, in denen die genannten Tanks für Flüssigballast angebracht sind, handelt um:
    Heck und Steuerbord; Heck und Backbord; Bug und Steuerbord; und Bug und Backbord; oder
    Mitte Heck, Mitte Bug, Mitte Steuerbord und Mitte Backbord;
    oder irgendeine der Zwischenanordnungen zwischen den beiden vorher genannten Anordnungen.
  5. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die elektronische Steuereinheit so konfiguriert ist, um durch Öffnen und Schließen der Lufteinlass- und - auslassventile den Trimmungs- und den Krängungswinkel zu korrigieren.
  6. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die elektronische Steuereinheit so konfiguriert ist, um durch Öffnen und Schließen der Lufteinlass- und - auslassventile eine Auf- und Abbewegung, die Beibehaltung der Tiefe, die Beibehaltung der Höhe, das Erreichen einer im Voraus festgelegten Tiefe und das Erreichen einer im Voraus festgelegten Höhe zu erreichen.
  7. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die Ventile Magnetventile sind, die über die elektronische Steuereinheit elektrisch gesteuert werden.
  8. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei sich das Einlassventil und das Auslassventil eines Flüssigballasttanks im gleichen Ventilkörper befinden.
  9. Vorrichtung nach einem der vorhergehenden Ansprüche, zusätzlich umfassend Schaltungen mit manuell betriebenen Ventilen, die parallel zu jedem der elektrisch gesteuerten Schaltkreise vorhanden sind.
  10. Vorrichtung nach einem der vorhergehenden Ansprüche, wobei die automatische Steuereinheit so konfiguriert ist, um die Vorrichtung zu steuern durch:
    Berechnen der vorzunehmenden Korrekturen und der entsprechenden Einstellungen an den Ventilen, um das gewünschte Gewicht in jedem der Flüssigballasttanks zu erreichen;
    Erfassen und Verarbeiten der von den Sensoren erfassten Daten, umfassend Gyroskop, Tiefenmesser und CTD-Rosette;
    Visualisieren der von dem Gerät vorgeschlagenen und/oder durchgeführten Korrekturen in Echtzeit.
  11. Vorrichtung nach dem vorhergehenden Anspruch, wobei die automatische Steuereinheit zum Betreiben der Vorrichtung so konfiguriert ist, dass sie drei Betriebsarten umfasst: kontinuierlicher Automatikbetrieb; einmaliger Automatikbetrieb (one shot), assistierter manueller Betrieb in Bezug auf ein im Voraus gewähltes Korrektur- oder Einstellverfahren, umfassend Auftriebskorrektur, Trimmungskorrektur, Krängungskorrektur, Festlegen der Tiefe, Festlegen der Höhe oder Kombinationen von diesen; wobei:
    der kontinuierliche Automatikbetrieb das Einleiten und das dauerhafte Aktivieren eines oder mehrerer im Voraus ausgewählter Verfahren umfasst und wobei die Verfahren automatisch mit einer im Voraus festgelegten Periodizität neu gestartet werden oder wann immer diese stark von der im Voraus gewählten Korrektur oder Einstellung abweichen;
    wobei der einmalige Automatikbetrieb (one shot) das gleichzeitige und sofortige Durchführen eines oder mehrerer im Voraus gewählter Verfahren zur Korrektur oder Einstellung umfasst;
    wobei der assistierte manuelle Betrieb das automatische Durchführen eines in Voraus gewählten isolierten Verfahrens zur Korrektur oder Einstellung gemäß den vom Piloten aus dem vom System vorgeschlagenen Werten umfasst.
  12. Vorrichtung nach dem vorhergehenden Anspruch, wobei der einmalige Automatikbetrieb (one shot) auf Initiative des Bedieners wiederholt werden kann.
  13. Unterwasserfahrzeug umfassend die Vorrichtung gemäß einem der vorhergehenden Ansprüche.
  14. Unterwasserfahrzeug nach dem vorhergehenden Anspruch, wobei das Unterwasserfahrzeug ein bemanntes U-Boot oder ein ferngesteuertes Unterwasserfahrzeug oder ein autonomes Unterwasserfahrzeug ist.
EP14835678.5A 2014-03-18 2014-12-31 Vorrichtung zur automatischen steuerung von auftrieb, krängung, trimmung, tiefe und höhe in unterwasserfahrzeugen Active EP3127802B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PT10752214 2014-03-18
PCT/IB2014/067447 WO2015140612A1 (pt) 2014-03-18 2014-12-31 Dispositivo para o controlo automático de flutuabilidade, do rolamento, da arfagem, da profundidade e da altitude em veículos submersíveis

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EP3127802A1 EP3127802A1 (de) 2017-02-08
EP3127802B1 true EP3127802B1 (de) 2019-08-28

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Publication number Priority date Publication date Assignee Title
ES2690418B1 (es) * 2016-09-22 2019-08-27 Univ Coruna Sistema de lastrado para el posicionamiento vertical y trimado de Rov's
CN111516839B (zh) * 2020-05-26 2021-01-29 中国船舶科学研究中心 一种水下滑翔器综合调节机构
CN118707981B (zh) * 2024-08-28 2024-12-24 中国船舶集团有限公司第七〇七研究所 一种基于排注水系统的无人航行器悬停状态垂速控制方法

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US20030075096A1 (en) * 2001-09-28 2003-04-24 Leonard Kenneth J. Variable buoyancy apparatus for controlling the movement of an object in water

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GB191422337A (en) 1914-11-11 1915-07-08 Wallace Cranston Fairweather Ballast Control Apparatus for Submarine Boats.
US2887977A (en) * 1954-03-23 1959-05-26 Fairchild Engine & Airplane Submarine depth and trim control
GB2169570B (en) * 1984-12-12 1988-10-26 Brown & Root Const Improvements in and relating to vessels
EP1658219A1 (de) * 2003-01-22 2006-05-24 Slobodan Stojic Roboterartiges modulares handhabungssystem zum bergen von schiffsteilen und ausrüstungsgegenständen aus grossen tiefen
US20120128425A1 (en) 2010-11-18 2012-05-24 Jeffrey Alan Walck Method and device for automatic buoyancy compensation for a scuba diver or underwater device while in any orientation
NO332875B1 (no) * 2010-11-29 2013-01-28 Environtec As Innretning og farkost for rensing av overflater
US9096106B2 (en) * 2011-05-12 2015-08-04 Unmanned Innovations, Inc Multi-role unmanned vehicle system and associated methods

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
US20030075096A1 (en) * 2001-09-28 2003-04-24 Leonard Kenneth J. Variable buoyancy apparatus for controlling the movement of an object in water

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EP3127802A1 (de) 2017-02-08

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