EP3393902A1 - Procede de pilotage d'un propulseur d'un vehicule marin - Google Patents
Procede de pilotage d'un propulseur d'un vehicule marinInfo
- Publication number
- EP3393902A1 EP3393902A1 EP16816313.7A EP16816313A EP3393902A1 EP 3393902 A1 EP3393902 A1 EP 3393902A1 EP 16816313 A EP16816313 A EP 16816313A EP 3393902 A1 EP3393902 A1 EP 3393902A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- propeller
- vehicle
- upstream
- thruster
- 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.)
- Pending
Links
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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H3/00—Propeller-blade pitch changing
- B63H3/002—Propeller-blade pitch changing with individually adjustable blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
- B63H5/10—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller of coaxial type, e.g. of counter-rotative type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
- B63H2025/425—Propulsive elements, other than jets, substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull
Definitions
- the present invention relates to the propulsion and maneuvering of marine vehicles comprising a thruster comprising two propellers.
- the invention is particularly applicable to underwater vehicles comprising a vector propeller with two propellers.
- a propellant is called vector when it can be controlled so as to produce a thrust or rotational propulsion force on 4 ⁇ steradian.
- the so-called vector propulsion of an underwater vehicle is opposed to the conventional propulsion in which the orientation of control surfaces causes a change in the lift generated by the flow of fluid surrounding the control surfaces.
- the force generated by the fluid on the control surfaces makes it possible to orient the vehicle in the desired direction.
- a well-known limitation of this form of propulsion is the need to generate a significant flow of fluid around the vehicle to cause a change in lift control surfaces allowing a change of attitude of the vehicle, that is to say to allow maneuvering the underwater vehicle.
- control surfaces decreases in inverse ratio of the square of the speed of the flow until becoming zero for a flow rate of zero.
- the control surfaces generate a drag proportional to the square of the speed which opposes the displacement and which therefore consumes energy and all the more so that the control surfaces are solicited.
- the control method of a vector propulsion presented in this patent allows the vehicle to dispense with conventional rudders, and thus significantly reduce the hydrodynamic drag of the vehicle.
- Vector propulsion of the two-helix type has many theoretical advantages, including increased mobility, simplification of the architecture (eg by eliminating the control surfaces), increased vehicle endurance (by reducing the hydrodynamic drag).
- This lack of steering other than the propeller blades facilitates the realization of a hydrodynamic vehicle called "flush", that is to say, no appendix exceeds, which allows him for example to easily hold in a tube and avoids to damage the control surfaces during a docking.
- the piloting of this type of thruster encounters however many difficulties including cornering.
- An object of the invention is to provide a method of driving a marine vehicle comprising a propeller with two propellers to control the trajectory of the vehicle including cornering.
- the invention relates to a control method, that is to say control, a propellant of a marine vehicle comprising a body and a thruster mounted on the body of the vehicle, the vehicle being at less partially immersed in a liquid and moving relative to the liquid along an axis of displacement in a direction of movement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster comprising an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement.
- the method comprises a stabilization step during which the propeller is piloted, that is to say, controlled, so that the main axis of the upstream flow generated by the upstream propeller at a given instant is an estimated main axis.
- the estimated main axis depends on the speed of rotation of the vehicle.
- the estimated main axis depends on a speed of movement of the vehicle relative to the liquid along the axis of displacement.
- the estimated main axis is determined from the speed of rotation of the vehicle and from a speed of the liquid carried by the flow generated by the upstream propeller relative to the body of the vehicle; determined from the distance between the centers of the two propellers.
- the estimated main axis is determined from the acceleration of the vehicle along the axis of displacement
- the method comprises the following step pair implemented at predetermined time interval:
- a determination step comprising a step of determining the current speed of rotation of the vehicle
- the determination step comprises a step of determining the current speed of the liquid carried by the upstream flow generated by the upstream propeller with respect to the body of the vehicle,
- the thruster is piloted so that each of the two propellers generates a flow directed downstream
- the thruster comprises two counter-rotating propellers with variable cyclic and collective pitch
- the thruster exerts a radial thrust so as to rotate the vehicle about an axis perpendicular to the axis of displacement
- the thruster is piloted so that the downstream propeller generates a flow not being symmetrical of revolution around the axis of displacement
- the thruster for the thruster to generate a thrust having a radial component acting in a direction dr, forming, around the axis of rotation of the downstream helix, a first angle a with a reference direction, the thruster of whereby the downstream helix has a cyclic pitch comprising a cyclic angle ⁇ given by the following formula:
- the cyclic phase ⁇ is the angle formed, around the axis of rotation of the downstream propeller, between the thrust generated by the downstream propeller and the cyclic angle of the downstream propeller, the cyclic angle of a helix being the angle formed around the axis of rotation of the downstream propeller x between the direction in which the cyclic pitch angle of the helix is maximum and the reference direction;
- the cyclic phase is determined during a calibration step.
- the invention also relates to a vehicle comprising a body and a thruster mounted on the body, the vehicle being intended to be at least partially immersed in a liquid and moving relative to the liquid along an axis of displacement in a direction of movement and to rotate about at least one axis of rotation perpendicular to the axis of displacement with a speed of rotation, the thruster comprising an upstream propeller and a downstream propeller along the axis displacement in the direction of movement, the control device being adapted to implement the stabilization step according to the invention so that the main axis of the upstream flow generated by the upstream propeller at a time is the axis main estimator, the control device comprising a control member configured to determine the estimated main axis and an actuation device configured to configure the upstream propeller so that the main axis of the upstream flow generated by the upstream propeller to an instant is an estimated main axis.
- control member is configured to determine the main axis estimated from the speed of rotation of the vehicle and the speed of the liquid carried by the flow generated by the upstream propeller relative to the body of the vehicle.
- the invention also relates to a control device adapted to implement the method according to the invention, the control device comprising a control member configured to determine the main axis estimated during the stabilization step, and a an actuator configured to configure the upstream propeller such that the main axis of the upstream stream generated by the upstream propeller at a time is the estimated main axis (xe).
- the invention also relates to a propulsion system comprising the control device and the thruster.
- FIG. 1 shows schematically in plan view of a submarine vehicle advancing along an axis x
- FIG. 2 is a diagrammatic plan view of a submarine vehicle moving back along an axis x
- FIG. 3 is a diagrammatic plan view of a submarine vehicle at a time t, moving along the x axis and comprising a thruster configured to exert a radial thrust on the vehicle of FIG. to turn it to the left, the upstream propeller generating a flow directed to the position of the center of the downstream propeller at time t,
- FIG. 4 schematically represents more precisely the flows and propellers of FIG. 3 at time t as well as the estimated position of the downstream propeller at a time t + dt,
- FIG. 5 schematically represents more precisely the helices of FIG. 3 as well as the estimated position of the downstream propeller at a time t + dt and the flows generated by the two helices at time t, the upstream helix generating, at time t, a flow directed towards an estimated position of the center of the downstream propeller at a time t + dt,
- FIG. 6 schematically represents, at a time t + dt, a vehicle whose flows generated by the helices at time t are those of FIG. 5.
- the lines of the flux generated by the upstream helix at time t are represented in FIG. 6, in a reference frame linked to the vehicle, until this flow reaches the downstream propeller.
- the lines of the flow generated by the downstream propeller at time t are also represented.
- FIG. 7 illustrates an example of calculation of the estimated main axis
- FIG. 8 schematically represents, in a radial plane, the direction of the radial thrust exerted by the thruster as a function of the cyclic angle
- FIG. 9 schematically shows a propulsion system of a vehicle according to the invention.
- the invention provides a control method, that is to say control, a propellant of a marine vehicle.
- the method is particularly applicable to submarine vehicles intended to move completely immersed in a liquid, including water.
- the invention also applies to surface vehicles intended to move on the surface of a liquid being partially immersed in the liquid.
- Marine vehicles may be autonomous vehicles with pilots (humans) on board, or unmanned drones on board such as remotely piloted vehicles or ROVs in reference to the English expression "remotely operated vehicle” or marine vehicles autonomous autonomous underwater vehicles or AUV with reference to the English expression "Autonomous Underwater Vehicle”. Therefore, the control method according to the invention can be implemented by an operator (pilot) on board or remotely or by an autonomous steering device.
- a propeller with variable cyclic and collective pitch is a propeller whose blade pitch angle is controllable collectively to adjust the thrust along the axis of rotation of the propeller.
- the collective pitch is defined by a collective pitch angle of the blades. In other words, all blades have the same collective pitch angle over the entire revolution of the blades around the axis of rotation of the propeller.
- the pitch angle of the blades of a helix is the angle formed between the rope of the blade and the plane of rotation of the helix according to the chosen reference.
- the plane of rotation of the helix is a plane of the helix perpendicular to the axis of rotation of the helix.
- the angle of adjustment is also cyclically adjustable to direct the thrust perpendicular to the axis of rotation of the propeller.
- the cyclic pitch angle of the blades varies cyclically, ie during a revolution around the axis of rotation of the helix, as a function of the angular positions of the blades around the axis of rotation. rotation of the propeller.
- the cyclic pitch is defined by a differential cyclic stall angle during a revolution of the blades as well as by a cyclic angle.
- the differential cyclic stall angle is defined as the difference between the maximum cyclic stall angle and the minimum stall angle of a blade during a revolution.
- the collective pitch is the average cyclic stall angle.
- the cyclic angle is the angle formed around the axis of rotation of the helix between the direction in which the blade pitch angle is maximum and a reference direction connected to the body of the vehicle.
- the pitch angle of the blades for which the propeller rotates about its axis of rotation exerts a zero thrust, according to its axis of rotation, is called a collective neutral pitch.
- the neutral cyclic pitch is that for which the blades exert a thrust whose component perpendicular to the axis of rotation of the helix is zero.
- Vector propellers are especially known formed of two coaxial counter-rotating propellers, that is to say whose axes of rotation are substantially merged.
- coaxial helices are known whose axes of rotation are substantially parallel to the main axis of movement of the vehicle.
- the main axis of movement of the vehicle is the axis, linked to the body of the vehicle, according to which the vehicle is mainly intended to move.
- axis connected to the body of the vehicle is meant that the orientation and the position of the body of the vehicle in a plane perpendicular to the axis are fixed.
- This type of thruster has the advantage of being able to be driven so as to have a good energy efficiency at high speed.
- the two propellers generate a thrust naturally oriented along the main axis of movement of the vehicle.
- the main axis of movement of the vehicle is the roll axis of the vehicle.
- the yaw and pitch axes are radial axes, that is, perpendicular to the main axis, passing through the main axis.
- the method is also applicable to thrusters of the type comprising two contrarotating propellers or not variable cyclic and collective propellers whose axes of rotation of the helices are distinct and substantially parallel and those having propellers whose axes of rotation are not parallel.
- the axes of rotation of the helices form any respective angles different from 90 ° with this axis which is for example the main axis of movement of the vehicle.
- the axes of rotation of the propellers are substantially parallel to the main axis of movement of the vehicle, which makes it possible to improve the propulsion efficiency during the progression in a straight line along this axis.
- the rotational speed of the blades of the propeller around its axis of rotation (called rotational speed of the propeller) is independently or collectively adjustable for both propellers.
- the propellers may each include a fixed orientation relative to the body of the vehicle. In other words, their respective axes of rotation are fixed relative to the axis of the vehicle.
- the method according to the invention also applies to thrusters comprising two orientable propellants with finger-jointed connection also called "gimbal propellers" in English terminology.
- These thrusters each have a propeller comprising blades whose pitch is not adjustable. Alternatively, the cyclic pitch and / or the collective pitch may be variable.
- Each of the propellers is connected by a finger ball joint connection to the body of the marine vehicle, for example made by means of a Cardan mounting so that the plane of rotation (or the axis of rotation) of each of the propellers can pivot, relative to the body of the vehicle, around two axes perpendicular to each other. In other words, the orientation of the propellers with respect to the body of the vehicle is modifiable.
- the speed of rotation of each of the helices around its axis of rotation is also adjustable, preferably independently of one another.
- a single propellant of the "gimbal propeller" type has a more limited yield than propellers with contra-rotating propellers with variable cyclic and collective pitch and have an action limited to a given angular sector of opening less than 360 °.
- the propellers may have the same diameter or a different diameter, the same number of blades or a different number of blades.
- Figures 1 to 3 show schematically in plan view a submarine vehicle 1 having a body 2 and a vector thruster 3 mounted on the body of the underwater vehicle 1.
- This vehicle moves along an axis of displacement x in the direction of the x-axis.
- the thruster 3 is of the vector propellant type comprising two AV propellers, counter-rotating ARs with variable cyclic and collective pitch.
- the propellers are coaxial. In other words, they are intended to rotate about axes of rotation substantially merged.
- the x-axis of the propellers is the axis of movement of the vehicle.
- the axis x is the preferred axis of movement of the vehicle which is here the roll axis of the vehicle.
- the axis of movement of the vehicle x is oriented in the preferred direction of movement of the vehicle when the vehicle has a preferred direction of movement.
- the propellers include a front propeller AV and a rear propeller AR.
- the front and the back as well as the left and the right are defined with respect to the axis of displacement x of the vehicle 1 in the direction of the axis x.
- the forward propeller AV is the upstream propeller when the vehicle is moving forward on the x-axis, the rear propeller is then the downstream propeller.
- the forward propeller AV is the downstream propeller when the vehicle moves in reverse on the x axis, the rear propeller is then the upstream propeller.
- each propeller AV, AR are mounted on the body 2 of the vehicle 1 to rotate about the axis of rotation of the corresponding propeller AV, AR.
- the blades of a helix are secured in rotation around the axis of rotation of the helix.
- each blade is connected by an axis to a hub rotatably mounted on the body 2 of the underwater vehicle 1 about the axis of rotation of the propeller generally defined by a shaft.
- the water flow lines between the two propellers are represented by arrows.
- a flow generated by a helix represents the speed of the water through the helix.
- the module or flux intensity, expressed in kg. m. s "1 is a flow rate of water flow through the surface of the propeller.
- the thrust force generated by the propellant is represented by a double arrow in each figure.In these figures, for clarity, the thrust is represented in the central part of the vehicle but it is advantageously applied to a point of the vehicle body located between the two propellers and preferably on the roll axis of the vehicle.
- the two propellers AV, AR are installed at the rear of the vehicle, that is to say on the rear half of the body of the vehicle along the reference axis x.
- these two propellers are installed at the front of the body of the vehicle or one at the front and one at the rear of the body of the vehicle.
- the planes of rotation of the propellers are not arranged in planes symmetrical to each other with respect to a plane containing the center of mass of the body 2 of the underwater vehicle 1.
- the method according to the invention comprises a so-called navigation step.
- the thruster is controlled so that each helix generates a flow.
- the thruster 3 is controlled so that the propellers AV, AR generate backward flow along the x axis.
- the flow generated by the thruster 3 is the combination of the flows generated by the two propellers AV, AR.
- each of these flows is oriented rearwardly along the axis of movement of the vehicle x. Therefore, the thrust force F generated by reaction by the thruster 3 comprises a positive axial component (along the x axis).
- the vehicle moves along the x-axis in the direction defined by the x-axis.
- the front propeller AV is the upstream propeller and the rear propeller AR is the downstream propeller.
- the thruster is controlled so that the propellers generate forward flows along the x axis.
- the flow generated by the thruster is the combination of flows generated by the two propellers. This flow is oriented forward.
- the thrust force F generated by reaction by the thruster is directed towards the rear and the vehicle moves back in the direction of the x axis.
- the front propeller AV is the downstream propeller and the rear propeller AR is the upstream propeller.
- the thruster is piloted so that the propellers continuously generate downstream directed flows along said direction.
- the downstream is located to the rear when the vehicle advances in a predetermined direction in a predetermined direction and the upstream is located in front of the downstream when the vehicle is moving in this direction in this direction.
- the vehicle could move along another axis of movement related to the vehicle that would not be the axis of the propellers.
- the thruster would be controlled so that the flows generated by the propellers along the x axis are oriented in the same direction along the axis of movement of the vehicle, this direction would be opposite to the direction of movement of the vehicle along this axis .
- each helix advantageously generates a non-zero flow and directed in the same direction along the axis of rotation of the helix, over the entire revolution of the blades of the propeller in the liquid around the helix.
- the axis of rotation of the propeller the axis of rotation of the propeller.
- the axial component of the flow has the same sign on the entire revolution of blades of the helix in the liquid around the axis of rotation of the helix.
- Each flux has a non-zero component with the same sign along the axis of rotation of the helix, over most of the revolution of the blades of the helix in the liquid around the axis of rotation of the helix. and preferably over the entire revolution of the blades of the helix around the axis of rotation of the helix.
- the thruster is driven, for example by limiting the differential cyclic angle as a function of the collective pitch applied so that each helix generates a thrust in the same direction on most of the revolution of the blades of the propeller. around the axis of rotation, and preferably over the entire revolution of the blades of the propeller around the axis of rotation of the propeller.
- each flow has essentially the same direction over the entire revolution of the blades of the propeller in the liquid around the axis of rotation avoids the creation of vortices between the propellers which would have the effect of destabilizing the vehicle.
- the direction of flow along the axis of rotation of at least one helix does not have the same sign on the entire revolution of the blades of the helix in the liquid around the axis of rotation of the helix. propeller.
- the flows generated by the two propellers AV, AR are symmetrical about the displacement axis x. Consequently, the flux generated by the thruster 3, which is the combination of the fluxes generated by the two propellers, is symmetrical about the x-axis. Therefore, the thruster generates an axial thrust but no radial thrust.
- the axial thrust is the component of the thrust generated by the thruster along the axis of displacement x.
- the radial thrust is the component of the thrust generated by the thruster along an axis perpendicular to the axis of displacement x. The vehicle is not rotated about an axis perpendicular to the axis of rotation of the propeller.
- the thruster is configured (that is, the properties of each helix and the arrangement between the propellers are selected) so that the flow generated by each helix can reach the other helix or at least the stream generated by the upstream helix. can reach the downstream propeller.
- This configuration is valid over a predetermined range of speeds being advantageously the range of speeds over which the vehicle is intended to navigate with respect to the liquid.
- the thruster 3 is driven so as to rotate the vehicle about an axis perpendicular to the axis of displacement x.
- the vehicle advances along the x axis and rotates around the x axis.
- the orientation of the flows generated by the two propellers along the axis of displacement x are the same as in FIG.
- the thruster 3 is piloted so that the downstream propeller (here the rear propeller AR) generates a flow that is not symmetrical of revolution around the axis of displacement x.
- the thruster is piloted so that the downstream propeller (here the rear propeller) generates a downstream flow whose main axis f, shown in fine lines with respect to the arrows representing the flow lines, forms a non-zero angle with the x-axis.
- the flow generated by the upstream helix (here the forward helix) at a time t is always symmetrical about the x axis.
- the total flux generated by the thruster 3 is no longer symmetrical about the x axis.
- the thrust F generated by the thruster has a non-zero radial component in the plane of the sheet of Figure 3, the vehicle will then be driven, under the effect of the thrust, a gyration movement about an axis perpendicular to the plane of the sheet in the direction of the curved arrow representing the rotation of the vehicle.
- a gyration movement about an axis perpendicular to the plane of the sheet in the direction of the curved arrow representing the rotation of the vehicle.
- the junction point between the axis of rotation of the vehicle perpendicular to the sheet and the plane of the sheet were to be represented, it would be represented at the top right of FIG. outside the vehicle.
- downstream propeller (here the rear propeller AR) at time t, that is to say if the main axis of the upstream flow generated by the upstream propeller (here the forward propeller AV) comprises the center position of the downstream propeller (here the rear propeller AR) at time t, this flow arrives on the downstream propeller off-center with respect to the axis of rotation of the downstream propeller (here the rear propeller AR ).
- main axis of the flow generated by a helix is meant the axis passing through the center of the helix and whose direction is the direction of the flow generated by the helix.
- the direction of the main axis is defined relative to the body of the vehicle.
- center of a helix is meant a predetermined point of the helix located on or substantially on the axis of rotation of the helix and inside the volume that can sweep the propeller during a revolution of the blades of the helix around the axis of rotation of the helix.
- This volume includes the axis of rotation of the helix.
- This point is called the center of the propeller.
- This is for example a center of mass of the propeller.
- the center of mass of a helix can advantageously be defined as the center of mass of the blades.
- FIG. 4 shows in continuous lines the positions of the upstream propeller AM which is the front propeller AV of FIG. 3 and the downstream propeller AVA, which is the rear propeller AR in FIG. at a time t at which the helices generate the flows represented in FIGS. 4.
- Flow lines generated by the two propellers are represented by continuous arrows in FIG. 4.
- the flow generated by the downstream propeller AVA rotates the vehicle 1 in the direction of the curved arrow representing the rotation around a axis perpendicular to the plane of the sheet.
- the flow generated by the upstream propeller AM at time t is directed to the position P occupied by the center of the downstream propeller at time t.
- the position of the downstream propeller AVA when the flow of the upstream propeller reaches it is represented in dashed lines.
- the two positions of the downstream propeller are connected by arrows in dashed lines. It can be seen that the flux generated by the upstream propeller AM is not symmetrical with respect to revolution around the position of the axis of rotation of the downstream propeller x 'at the instant t + dt. This has the effect of disturbing the angle of incidence of the blades of the downstream propeller for a given wedging angle. The angle of incidence defines the orientation of the propellers with respect to the liquid.
- the thruster When the pitch angle of the blades is disturbed, the thruster then produces a thrust different from the desired thrust up to the opposite of the desired thrust.
- the trajectory of the vehicle is then deflected and the vehicle can start to oscillate.
- the navigation step comprises a step of stabilizing the vehicle according to the invention.
- the thruster 3 is controlled so that the main axis of the upstream flow generated by the so-called upstream propeller AM at a given instant t is an axis main estimated xe (or estimated main axis xe) on which is supposed, that is to say estimated, to be located a position P 'of the center of the downstream propeller AVA at a later time t + dt at which the flow generated by the upstream propeller AM reaches the downstream propeller AVA.
- the upstream propeller is controlled so that the upstream flow generated by the upstream propeller at time t is substantially centered on the center of the downstream propeller at the moment at which the flow generated by the upstream propeller reaches the downstream propeller.
- the main axis of the flow generated by the upstream propeller AM relative to the body of the vehicle is defined so that the upstream flow generated by the upstream propeller AM continues to reach the downstream propeller substantially centered on the center.
- downstream propeller AVA even when the vehicle is cornering.
- the main axis of the upstream flow generated by the upstream helix AM at a given instant t is defined to pass substantially through the center of the downstream helix at time t + dt.
- this step is a step of estimating an axis on which is positioned the position P 'of the center of the downstream propeller AVA at time t + dt.
- the method then comprises a step of controlling the upstream propeller so that the main axis of the upstream flow generated by the so-called upstream propeller AM at a given instant t is the estimated axis.
- the estimated main axis may be dependent on one or more quantities listed below. In other words, the estimated main axis can be determined from one or more of these quantities. In other words, the axis which is the center of the downstream propeller at time t + dt can be estimated from one or more of these quantities. This is done during a step of determining the estimated axis.
- the main axis estimated and more particularly the direction of the estimated axis relative to the upstream propeller advantageously depends on the speed of rotation of the vehicle.
- the estimated main axis passes through the center of the upstream propeller.
- the axis according to which is estimated to be the position of the downstream propeller at time t + dt passes through the upstream helix.
- the speed of rotation of the vehicle is a rotational speed with respect to a fixed reference system, for example the liquid (apart from the flow generated by the thruster) or the terrestrial reference system.
- the estimated main axis depends on a speed of movement of the vehicle relative to a fixed reference along the axis of displacement.
- the reference system fixes, for example, the liquid in the vicinity of the vehicle outside the flow generated by the thruster or the terrestrial reference system.
- the estimated main axis depends on the flow generated by the upstream helix.
- the estimated main axis is determined from the speed of rotation of the vehicle.
- the estimated main axis is determined from a speed of the liquid carried by the flow generated by the upstream propeller relative to the body of the vehicle.
- the speed of the liquid carried by the flow relative to the body 2 depends on the flow generated by the upstream propeller and the speed of the moving the vehicle relative to the liquid.
- the main axis estimated is advantageously determined from the distance between the centers of the two propellers.
- the estimated main axis xe is determined from the speed of rotation of the vehicle and the flow generated by the upstream propeller, relative to the body of the vehicle.
- the direction of the flow generated by the upstream propeller AM, relative to the body of the vehicle is advantageously obtained from the speed of rotation of the vehicle 1 possibly composed with its linear speed of advance (phenomenon related to a reference in integral rotation of the vehicle called "force" of Coriolis) and possibly the value of the flow generated by the upstream propeller so that the upstream flow generated by the upstream propeller AM continues to reach the downstream propeller substantially centered on the center downstream propeller AVA even when the vehicle is turning.
- the speed of rotation of the vehicle 1 possibly composed with its linear speed of advance (phenomenon related to a reference in integral rotation of the vehicle called "force" of Coriolis) and possibly the value of the flow generated by the upstream propeller so that the upstream flow generated by the upstream propeller AM continues to reach the downstream propeller substantially centered on the center downstream propeller AVA even when the vehicle is turning.
- FIG. 5 differs from FIG. 4 in that the upstream flow generated by the upstream propeller AM is directed towards an estimated position P 'of the center at a time t + dt where the stream generated by the upstream propeller AM has propagated to the downstream AVA propeller.
- the main axis of the flow generated by the upstream propeller is an estimated main axis comprising the estimated position P '.
- the blades of the downstream propeller AVA receiving the flow generated by the upstream propeller AM, sweep a homogeneous flow over their entire revolution around the axis of rotation of the downstream propeller which allows to control the trajectory of the vehicle, especially when cornering, with an optimal performance at medium and high speed and especially without the appearance of thrust oscillations related to the modulation of the angle of attack of the blades of the downstream propeller by the vorticity of the flow of the upstream propeller not centered on the center of the downstream propeller.
- this control method allows to maneuver the device only from the thruster.
- water jets or control surfaces in addition to the thruster is not required which is advantageous in terms of energy (low hydrodynamic drag), in terms of mass, in terms of simplicity, in terms of maneuverability of the vehicle which that is the speed of the vehicle even in reverse and in terms of efficiency of the maneuver even at high speed.
- the propellers are driven as described previously with reference to FIGS. 1 to 3 to obtain a desired translation movement along the axis of displacement x and a desired rotational movement along an axis perpendicular to the axis of rotation.
- the stabilization step is implemented while the thruster is controlled so that the upstream and downstream propellers generate downstream oriented flows along the axis of movement of the vehicle x.
- the combination of the flows generated by the two propellers makes it possible to obtain an axial thrust force upstream in all the radial directions (defined with respect to the x-axis) and this whatever the axial speed of the vehicle as long as a flow to distinguish upstream and downstream exists.
- the thruster can be controlled so that the flow generated by the downstream propeller is not symmetrical of revolution about the axis of movement of the vehicle x so as to generate the axial thrust allowing the vehicle to turn around a radial axis.
- FIG. 6 differs from FIG. 3 in the direction of the flow generated by the upstream propeller (here propeller before AV) at time t relative to the body of the vehicle.
- This flow is directed along the main axis estimated xe described above.
- the main axis of this flow is the estimated main axis.
- the lines of the upstream flow generated by the upstream propeller (here the forward propeller AV) at time t and propagating up to the instant t + dt are represented in FIG.
- upstream flow along the estimated main axis xe that is to say by not directing the upstream flow generated by the upstream propeller (here the forward propeller AV) at time t to the position occupied by the center from the downstream propeller at time t, this flow arrives homogeneously over the entire revolution of the blades of the downstream propeller around the axis of rotation of the downstream propeller at time t + dt.
- the estimated main axis xe and in particular the direction of the main axis estimated with respect to the upstream propeller, is optionally defined (e) from the speed of rotation of the vehicle around at least one perpendicular axis and possibly from a liquid velocity in the upstream flow generated by the upstream propeller relative to the body 2 of the vehicle 3.
- the rotational speed of the vehicle is advantageously measured by means of at least one sensor.
- the speed of rotation can be obtained at from at least one gyrometer on board the vehicle for example in an inertial unit.
- the speed of the liquid carried by the upstream flow relative to the body 2 of the vehicle 1 may be a three-dimensional speed or more simply a speed of the liquid relative to the vehicle along the reference axis.
- This speed can be measured by means of at least one sensor.
- this speed is measured by means of a sensor, for example a flow sensor, making it possible to measure the modulus of this speed and possibly an orientation of the speed of the liquid.
- the speed of the liquid is an estimate of the speed of the liquid carried by the flow generated by the upstream propeller relative to the vehicle.
- the estimated speed is, for example determined from the rotational speed and cyclic and collective setting angles of the upstream propeller and possibly the downstream propeller.
- It can also be determined from the electrical or mechanical measurement of the engine torque applied by the upstream propeller and / or the downstream propeller and / or the thruster on the vehicle. As a variant, it can be determined from a measurement of the speed of the vehicle relative to the liquid along the axis of displacement. The estimation of the speed by estimation is less precise but simpler to realize and less expensive than the direct measurement.
- FIG. 7 shows the positions P and Q of the centers of the respective downstream and upstream propellers at time t as well as the position O of the point of intersection between the axis of rotation of the vehicle (perpendicular to the sheet). , around which the vehicle rotates at the speed of rotation ⁇ , and the plane of the sheet. In this figure, the points P, Q and O are aligned.
- An estimated position P 'of the position of the center of the downstream propeller at time t + dt at which the flow generated by the upstream helix at time t reaches the downstream helix is also represented.
- the speed of the liquid carried by the flow generated by the upstream propeller, relative to the vehicle is noted Vf.
- d is the distance separating the centers from the two propellers.
- the thruster is thus piloted so that the flow generated by the upstream propeller is directed in the estimated direction forming an angle substantially equal to the estimated angle a 'with the axis x instead of direct this flow along the x axis.
- the thruster is piloted so as to correct, at time t, the direction of the main axis of the flow generated by the upstream propeller with respect to the direction connecting the centers of the two propellers so that the axis principal is directed in the estimated direction.
- the thruster When the rotation speed of the vehicle around the axes perpendicular to the axis of the propellers is zero, the thruster is piloted so that the flow generated by the upstream propeller at time t is directed towards the center position of the propeller. downstream propeller at time t.
- the estimated main axis is determined from a distance separating the downstream propeller from the axis of rotation of the vehicle around which the vehicle rotates.
- the distance separating the downstream propeller from the axis of rotation is for example the distance between the center of the downstream propeller and the axis of rotation of the vehicle along an axis perpendicular to the axis of rotation of the vehicle.
- the estimated main axis (in particular the direction of this axis) axis) also depends on or is determined from, an acceleration of the vehicle relative to the water. This improves the control of the trajectory of the vehicle.
- This acceleration can be obtained from one or more accelerometers aboard the vehicle.
- the estimated principal axis can be determined from the linear acceleration of the vehicle (along the x-axis of the vehicle) and / or from the radial (perpendicular to the axis) acceleration of the vehicle. These measurements respectively modify the value of the speed Vf and the speed of rotation ⁇ .
- the stabilization step is implemented when the modulus of the vehicle speed in the axial direction is greater than a predetermined non-zero threshold.
- Another driving method can then be used to control the vehicle when the module of the vehicle speed in the axial direction is below the threshold to allow better maneuverability of the vehicle at low speed.
- control method comprises the following pair of steps:
- a determination step comprising a step of determining the current speed of rotation of the vehicle and possibly a step of determining the current speed of the liquid carried by the upstream flow generated by the upstream propeller relative to the body of the vehicle,
- the stabilization step is also advantageously performed from the distance separating the centers of the two propellers.
- the determination step advantageously uses this distance.
- the estimated axis is determined from the determined values and possibly from the distance separating the centers of the two propellers.
- This pair of steps is advantageously implemented at regular time intervals.
- the time interval is for example between 1 s and 5 s. It can depend on the linear speed of the vehicle. It can be determined from a desired stability for the vehicle.
- the stabilization step comprises the pair of steps implemented at least once.
- This embodiment makes it possible to correct the direction of the flow generated by the upstream propeller in a regular manner at predetermined time intervals so as to prevent the vehicle from deviating from the trajectory that it is desired to impose on it. Only rapid maneuvers performed over a period of time less than the selected time interval will not benefit from this correction.
- the stabilization step and / or the pair of steps is implemented when the linear speed of the vehicle along the axis of displacement is greater than the predetermined threshold.
- the stabilization step or the pair of steps is not implemented when the rotational speed of the vehicle exceeds a predetermined speed threshold.
- This threshold is at least equal to the rotational speed threshold at which the flow of the upstream propeller can not reach the downstream propeller, ie the travel time of the flow generated between the upstream propeller and the propeller. downstream propeller is greater than the travel time of the downstream propeller.
- the stabilization step is implemented as long as the speed of rotation is less than or equal to the threshold.
- the stabilization step is implemented or the pair of steps is implemented at predetermined time intervals.
- the step of determining the rotational speed of the vehicle comprises a step of measuring the speed of rotation of the vehicle.
- the step of determining the speed of the liquid carried by the upstream flow generated by the upstream propeller, relative to the body of the vehicle comprises for example a step of measuring the speed of the liquid in the upstream flow relative to the vehicle or a step of measuring at least one magnitude and / or a step of determining this speed from the magnitude (or magnitudes) and / or from the value of at least one current parameter.
- the velocity of the liquid is determined from the cyclic and collective pitches of the upstream propeller blades and the current rotation speed of the upstream propeller and possibly the cyclic and collective pitches of the downstream propeller blades and the current rotation speed of the downstream propeller. These data are parameters.
- the determination step is carried out from a measuring device comprising the required sensor (s) and / or from the control member.
- the stabilization step comprises a step of determining the estimated main axis of the flow generated by the upstream helix from the determined value (s) during the determination step. This step is performed from the control member.
- the stabilization step at time t is advantageously performed from the main axis of the flow generated by the upstream helix during the implementation of the preceding configuration step.
- the stabilization step further comprises a step of determining the configuration of the thruster so that the upstream propeller generates an upstream flow whose main axis is the estimated main axis and a thruster adjustment step according to this configuration. This adjustment step is performed by means of an actuating device or actuator.
- the thruster control step is advantageously a steering step of the propellers or the upstream propeller.
- the vehicle comprises a control device comprising an actuating device comprising at least one actuator making it possible to control the collective pitch and the cyclic pitch of each propellers.
- actuating device comprising at least one actuator making it possible to control the collective pitch and the cyclic pitch of each propellers.
- This is for example a magnetic device or a motorized device for adjusting the cyclic and collective steps.
- this device comprises cyclic and collective trays.
- the configuration obtained comprises a collective pitch, a cyclic pitch and optionally a speed of rotation of the upstream propeller or the variation of one or more of these parameters to be applied to the helix between time t and time t + dt.
- the configuration comprises the orientation of the axis of the upstream propeller.
- the orientation of the upstream propeller is adjusted so as to obtain the desired configuration.
- a particular method for adjusting the thruster and more specifically the configuration of the downstream propeller, to obtain a radial thrust in a desired radial direction dr forming, in a frame linked to the body. of the vehicle, around the axis of rotation of the downstream propeller, a so-called thrust angle has predetermined with a reference direction dref.
- the thrust generated by the thruster may also include a non-zero axial thrust.
- the thrust angle a is different from the cyclic angle of the downstream propeller.
- the radial thrust generated by the downstream propeller is directed in a radial direction dr forming, around the reference axis, an angle called cyclic phase ⁇ with the direction in which the cyclic stall angle of the downstream propeller.
- This cyclic phase ⁇ is symmetrical, independent of the direction of the radial thrust generated by the thruster.
- the cyclic pitch of the downstream propeller is adjusted by means of the following formula:
- the corrected radial direction in which the cyclic pitch angle of the blades is maximum forms, around the axis of rotation of the downstream propeller, an angle ⁇ with the reference direction dref.
- the cyclic pitch of the downstream propeller is non-neutral.
- the cyclic phase ⁇ is advantageously determined during a preliminary calibration step.
- This calibration step comprises a measuring step comprising a first step of measuring forces and torques exerted by the vehicle on a test stand integral with the vehicle for several cyclic steps of one or more propellers and / or a second measurement step of the direction of movement of the vehicle immersed in the liquid in an unobstructed area for several cyclic pitch of one or more propellers by means of gyrometers and accelerometers of the direction of movement of the underwater vehicle as a function of the cyclic pitch of the propellers.
- the calibration step further comprises a step of calculating the cyclic phase from measurements made during the measuring step.
- the invention also relates to a marine vehicle 2 as described above comprising a propulsion system 63.
- the propulsion system 63 comprises a control device 62 able to control the thruster 3 and configured to be able to implement the method according to the invention as well as the thruster 3.
- the invention also relates to the propulsion system and the propulsion device. piloting.
- the control device 62 comprises a control member 60 which, receiving an implementation instruction of the stabilization step, is configured to calculate a stabilization configuration in which the thruster must be placed so that the main axis of the upstream flow is directed along the estimated main axis, possibly from at least one previously cited variable such as, for example, the required speeds, and an actuating device or actuator 61 configured to control the thruster to configure the thruster according to said configuration.
- the controller 60 may be implemented using software and / or hardware technology.
- the controller 60 comprises for example a programmable logic component or a processor and an associated memory containing a program configured to determine the configuration.
- the processor and the memory can be grouped together in the same component often called a microcontroller.
- the actuator may comprise cylinders, for example electric or hydraulic or a motor actuating cables or chains and to move the point on which they apply their force or even in principle rack.
- the actuator is configured to tilt and / or move the cyclic and collective trays.
- control or control device 62 is configured, when it receives a navigation instruction comprising a thrust or a thrust direction to be applied by the thruster to the marine vehicle to implement the navigation step according to the invention, so that the downstream propeller generates the thrust in the desired direction and so that the two helices generate flows in the downstream direction.
- the control step includes a step of adjusting the two propellers.
- the instructions can be generated in the vehicle (autonomous vehicle) or outside the vehicle (remotely controlled vehicle).
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1502682A FR3046131B1 (fr) | 2015-12-23 | 2015-12-23 | Procede de pilotage d'un propulseur d'un vehicule marin |
PCT/EP2016/082506 WO2017109149A1 (fr) | 2015-12-23 | 2016-12-22 | Procede de pilotage d'un propulseur d'un vehicule marin |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3393902A1 true EP3393902A1 (fr) | 2018-10-31 |
Family
ID=55806402
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16816313.7A Pending EP3393902A1 (fr) | 2015-12-23 | 2016-12-22 | Procede de pilotage d'un propulseur d'un vehicule marin |
Country Status (7)
Country | Link |
---|---|
US (1) | US10589830B2 (fr) |
EP (1) | EP3393902A1 (fr) |
AU (1) | AU2016375036B2 (fr) |
CA (1) | CA3009546C (fr) |
FR (1) | FR3046131B1 (fr) |
SG (1) | SG11201805436XA (fr) |
WO (1) | WO2017109149A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3075162B1 (fr) * | 2017-12-19 | 2020-09-25 | Thales Sa | Vehicule apte a etre immerge comprenant un mat |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2727485A (en) * | 1954-08-16 | 1955-12-20 | Herbert M Combs | Submarine type sea train |
US3131066A (en) * | 1961-01-13 | 1964-04-28 | Albert D Mitzelfelt | Method of preparing a filled meat product |
US3130066A (en) * | 1961-10-09 | 1964-04-21 | Ransburg Electro Coating Corp | Electro spray apparatus and method |
US3703211A (en) * | 1970-12-31 | 1972-11-21 | Us Navy | Propeller with after-collision propulsion capability |
US4648345A (en) * | 1985-09-10 | 1987-03-10 | Ametek, Inc. | Propeller system with electronically controlled cyclic and collective blade pitch |
US9022738B1 (en) * | 2011-12-23 | 2015-05-05 | The United States Of America As Represented By The Secretary Of The Navy | Marine propulsion-and-control system implementing articulated variable-pitch propellers |
US8783202B1 (en) * | 2012-07-25 | 2014-07-22 | The United States Of America As Represented By The Secretary Of The Navy | Subsurface oscillating blade propellor |
US8919274B1 (en) * | 2013-05-21 | 2014-12-30 | The United States Of America As Represented By The Secretary Of The Navy | Submersible vehicle with high maneuvering cyclic-pitch postswirl propulsors |
-
2015
- 2015-12-23 FR FR1502682A patent/FR3046131B1/fr active Active
-
2016
- 2016-12-22 SG SG11201805436XA patent/SG11201805436XA/en unknown
- 2016-12-22 AU AU2016375036A patent/AU2016375036B2/en active Active
- 2016-12-22 WO PCT/EP2016/082506 patent/WO2017109149A1/fr active Application Filing
- 2016-12-22 EP EP16816313.7A patent/EP3393902A1/fr active Pending
- 2016-12-22 CA CA3009546A patent/CA3009546C/fr active Active
- 2016-12-22 US US16/065,798 patent/US10589830B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
SG11201805436XA (en) | 2018-07-30 |
US10589830B2 (en) | 2020-03-17 |
AU2016375036A1 (en) | 2018-07-26 |
CA3009546C (fr) | 2022-03-15 |
AU2016375036B2 (en) | 2021-08-05 |
US20190009872A1 (en) | 2019-01-10 |
FR3046131A1 (fr) | 2017-06-30 |
WO2017109149A1 (fr) | 2017-06-29 |
FR3046131B1 (fr) | 2018-01-26 |
CA3009546A1 (fr) | 2017-06-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1680648B1 (fr) | Controle d'attitude de satellites en particulier agiles a nombre reduit de gyrodynes | |
EP1897799B1 (fr) | Dispositif de stabilisation dynamique d'un engin sous-marin | |
EP1591854B1 (fr) | Procédé d'aide au décollage d'un aéronef | |
FR3029798A1 (fr) | Mobile glissant, notamment hydrofoil, a propulsion par un drone a voilure tournante | |
EP3058431B1 (fr) | Dispositif et procédé de repérage de terrain en vol pour microdrone | |
EP3264214A1 (fr) | Procédé de conversion dynamique d'attitude d'un drone à voilure tournante | |
EP3393903B1 (fr) | Systeme et procede de pilotage d'un propulseur d'un vehicule marin | |
JP6771043B2 (ja) | 船舶を操作する方法及び制御装置 | |
EP1989104B1 (fr) | Systeme de commande electrique pour une gouverne de direction d'un avion | |
WO2016131850A1 (fr) | Système de stabilisation d'un navire | |
EP3260945A1 (fr) | Drone comprenant des ailes portantes | |
EP2767794B1 (fr) | Projectile à gouvernes orientables et procédé de commande des gouvernes d'un tel projectile | |
EP3393902A1 (fr) | Procede de pilotage d'un propulseur d'un vehicule marin | |
EP2668100B1 (fr) | Procédé et système de pilotage d'un engin volant à propulseur arrière | |
FR3080362A1 (fr) | Drone a voilure fixe ameliore, procede de commande et d'atterrisage | |
EP3728019B1 (fr) | Vehicule apte a etre immerge comprenant un mat | |
KR101378953B1 (ko) | 러더 및 이를 포함하는 선박 | |
Kostenko et al. | On Propulsion-based Estimation of Incoming Flow Velocity |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20180621 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20190403 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |