JP2005121209A - Fluid passage switching element, in-fluid free moving body and attitude control method of in-fluid free moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fluid passage switching element which materializes an in-fluid free moving body with high kinetic performance, an in-fluid free moving body and an attitude control method of the in-fluid free moving body. <P>SOLUTION: Output ports 23a, 23b for ejecting jet flow are provided to the surface of a steering wing 22b. In output of the jet flow ejected from a fluid source 24 inside a body, either of output ports 23a, 23b is selected by control ports 8a, 8b. As a result, the attitude of the in-fluid free moving body is controlled by utilizing a force generated in the steering wing 22b. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a control mechanism of a free moving body in a fluid such as a flying body or a submerged body, and more particularly to a fluid path switching element used in the free motion control mechanism and a free moving body in a fluid controlled by the free motion control mechanism and the fluid The present invention relates to a posture control method for a free moving body.

  One conventional mechanism for controlling a free moving body in a fluid such as a flying object or a submerged body is to drive a steering blade and control it using the force of fluid applied to the steering blade. For example, as shown in FIG. 16, a free moving body in fluid using this control includes a driving means (not shown) provided in the body 101 of the free moving body in fluid, and the driving means receives the fluid. And a steering blade 102 capable of operating the corner. In this control, the angle of attack of the steering blade 102 with respect to the fluid is changed by the drive means, and the posture of the free moving body in the fluid is changed using the change in the force applied from the fluid to the steering blade. Generally, an electromagnetic actuator or a hydraulic actuator is used as the driving means. (Non-Patent Document 1)

  FIG. 17 shows an application example of the conventional control of a free moving body in fluid to a flying object. The main wing 103 is provided with a flap 104, the vertical tail 106 is provided with a rudder 107, and the horizontal tail 108 is provided with an elevator 109. The flap 104 is used for lift control and rolling attitude control on the flying object, the rudder 107 is used for yawing direction attitude control, and the elevator 109 is used for pitching attitude control.

  As a representative, a mechanism for using the force applied to the steering blade with respect to the flap 104 will be described with reference to FIG. Around the flap 104 provided on the main wing 103, when the free moving body in the fluid moves in the fluid, the fluid 110 flows from the main wing along the periphery of the flap as shown by the arrow in the figure, and the lift 111 is generated. To do. Here, by controlling the angle of attack of the flap 104 with respect to the fluid 110, the direction of the flow of the fluid 110 changes, and the magnitude of the lift 111 can be controlled. This principle is widely used not only for flying objects but also for free-moving bodies in a fluid that moves in a fluid. For example, as shown in FIG.

As another control mechanism, there is a mechanism that jets a jet from a free moving body in a fluid and uses the reaction force. For example, as shown in FIG. 20 (a), a free moving body in fluid using this method is provided with a jet port 114 in the body 113 of the free moving body in fluid. When it is desired to change the direction of the free moving body in the fluid, the jet is ejected from the jet port 114, and the reaction force is used to control the direction of the free moving body in the fluid. In addition, as shown in FIG. 20 (b), the direction of a part of the jet flow ejected from the jet engine 115 for supplying the thrust of the free moving body in the fluid is changed by the steering blade 116, for example, in combination with the steering blade described above. Thus, it is possible to obtain a higher lift force on the free moving body in the fluid. Further, as shown in FIG. 20 (c), by providing a gap 119 between the main wing 117 and the flap 118, fluid passes through the gap 119, and the fluid does not peel from the flap 118, so that a larger lift force can be obtained. Can be obtained.
Aerodynamics Basics (2nd edition) Mitsuo Makino (Industry Books)

  However, such a control means requires a drive means for driving the steering blades or a fluid source for generating a jet flow and a valve for turning on / off the jet flow.

  In order to obtain the necessary fluid force applied to the steering blade, the control means using the steering blade requires a considerable blade area. Therefore, a driving means for driving the steering blade is necessarily required to have a high output. It is done. High-power drive means require not only a large space and large energy, but also a strong structure for increasing the force applied to the body mounting portion and bearing portion.

  On the other hand, in the control means using a jet, in order to change the posture of the free moving body in the fluid, a considerable flow rate and flow velocity are required, and therefore a high pressure is inevitably required for the fluid source. A valve for turning on / off a high-pressure jet must have a structure and operating force that can withstand the pressure.

  The weight and volume of these driving means or valves, and the robust structure required for the free moving body in the fluid hinder the downsizing and weight reduction of the free moving body in the fluid, and the resistance between the free moving body in the fluid and the fluid. It was one of the causes that hindered the improvement of the movement performance of the free movement body in the fluid.

  The present invention has been made in view of such circumstances, and is a fluid path switching element for realizing a free moving body in fluid that is small, lightweight, has low resistance to fluid, and has high motion performance, and free in fluid An object is to provide a posture control method for a moving body and a free moving body in a fluid.

  In order to achieve the above object, a fluid path switching element according to the present invention includes a fluid input path for inputting fluid into the body of the fluid path switching element and the fluid input path, and accelerates the fluid to cause a jet to flow. One end of the fluid input path between the nozzle section to be generated, the plurality of jet output paths that are connected to the fluid input path and output the jet to the outside of the main body, and the nozzle section and the jet output path A plurality of control paths that are open and open at the other end to the outside of the main body, and a control valve that is provided in the control path and switches the open state of the control path to the outside of the main body to either open or shut off. It is characterized by having.

  In order to achieve the above object, a fluid path switching element according to the present invention includes a fluid input path for inputting fluid into the body of the fluid path switching element, and the fluid input path, which accelerates the fluid. A nozzle unit that generates a jet, a first jet output path and a second jet output path that are connected to the fluid input path and output the jet to the outside of the main body, the nozzle unit, and the first jet A control path having a first path and a second path, one end of which is open to the fluid input path and the other end of the fluid input path between the output path and the second jet output path; Provided in a control path, the first path is opened to the outside of the main body, the second path is blocked, the first path is blocked, and the second path is outside the main body. Switch to one of the open states It characterized by having a three-way valve.

  In order to achieve the above object, a free moving body in fluid of the present invention is provided with a body capable of moving in a fluid, a fluid input path for inputting fluid, and the fluid input path for accelerating the fluid. A nozzle section that generates a jet, a plurality of jet output paths that are connected to the fluid input path and output the jet to the outside of the body, and a jet from the jet output path is provided in the body. A plurality of outlets for discharging to the outside, a plurality of control paths having one end opened in the fluid input path between the nozzle portion and the jet flow output path, and the other end opened to the outside of the body; A control valve that is provided in a control path and switches an open state of the control path to the outside of the body to either open or shut off, and by controlling the control valve, From any of the spout and switches whether to jet the jet.

  In order to achieve the above object, a free moving body in fluid of the present invention is provided with a body capable of moving in a fluid, a fluid input path for inputting fluid, and the fluid input path for accelerating the fluid. A nozzle section that generates a jet, a plurality of jet output paths that are connected to the fluid input path and output the jet to the outside of the body, and a jet from the jet output path is provided in the body. A plurality of outlets for discharging to the outside, a plurality of control paths having one end opened in the fluid input path between the nozzle portion and the jet flow output path, and the other end opened to the outside of the body; Provided in the control path, a part of the control path is opened to the outside of the body, the other part of the control path is blocked, and a part of the control path is blocked. Part of And a three-way valve that switches to any one of the states opened to the outside of the body, and the three-way valve is controlled to switch which of the plurality of jet nozzles ejects the jet flow. .

  In order to achieve the above object, a posture control method for a free moving body in fluid according to the present invention includes a body that moves in a fluid, and a plurality of jets for jetting jets provided in the body, In a posture control method of a free moving body in fluid having a control valve for switching which of the plurality of jets ejects the jet, the target posture and the current posture are determined from the direction, the distance, and the current posture with respect to the reaching target. A step of obtaining a difference between the steps, a step of obtaining a ratio of jetting times of jets ejected from the plurality of jetting ports based on the difference, and a jetting time corresponding to the ratio of the jetting times. And a step of controlling opening and closing of the control valve corresponding to the jet port.

  As described above in detail, according to the present invention, a fluid path switching element for realizing a free moving body in fluid that is small, lightweight, has low resistance to fluid, and has high motion performance, and a free moving body in fluid, In addition, it is possible to provide a posture control method for a free moving body in a fluid.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
First, FIG. 1 shows a cross section of a fluid path switching element according to a first embodiment of the present invention.

  Inside the main body 1 of the fluid path switching element, there is provided a fluid input path 2 which is a space for inputting a fluid that becomes a jet into the main body of the fluid path switching element. One end (left side in the figure) of the fluid input path 2 is an input port 3 that can be connected to a fluid supply source (not shown).

  The other end (right side in the figure) of the fluid input path 2 is divided inside the main body 1 and connected to one end of a plurality (two in the present embodiment) of jet output paths 4a and 4b. The other ends of the jet output paths 4a and 4b serve as output ports 5a and 5b for outputting the jet to the outside of the main body.

  In the middle of the fluid input path 2, a nozzle portion 6 that accelerates the fluid and generates a jet is provided. The cross-sectional area of the fluid input path 2 in the direction substantially orthogonal to the fluid flow is such that the fluid input path 2 is a plurality of jets from the nozzle section 6 so that the fluid flows into the wide space 7 immediately after passing through the nozzle section 6. It changes over the part connected to the output paths 4a and 4b.

  In the vicinity of the nozzle section 6 between the nozzle section 6 and the divided portion where the fluid input path 2 is divided into a plurality of jet output paths 4a and 4b, the same number of control paths as the jet output paths 4a and 4b (this embodiment) 2) 8a and 8b are provided. One end of the control paths 8 a and 8 b on the nozzle part 6 side opens into the space 7. The openings of the control paths 8a and 8b are located on the branch direction side of the corresponding jet flow output paths 4a and 4b from the center of the nozzle portion. The ends (other ends) opposite to the space 7 of the control paths 8 a and 8 b are opened to the outside of the main body 1.

  In the middle of the control paths 8a and 8b, control valves 9a and 9b are provided for switching the control paths 8a and 8b to either a state where the control paths 8a and 8b are opened to the outside of the main body 1 or a state where they are blocked.

  Next, the operation principle of the fluid path switching element will be described with reference to FIG. The fluid 10 input from the fluid input path 2 flows into the space 7 as a jet 11 from the nozzle portion 6. At this time, in the state where the control valve 9b is opened and the control valve 9a is shut off, the inflow speed of the jet 11 is fast, so the jet becomes turbulent, and the turbulent flow causes a vortex in the vicinity of the nozzle portion 6 to cause the wall 40 The nearby pressure drops. Since the valve 9b is in an open state, fluid flows from the outside through the control passage 8b. Then, the jet 11 is deflected in the direction where the pressure near the wall surface 40 of the space 7 is low, that is, in the opening direction of the control path 8a. The jet 11 once deflected flows along the wall surface 40 of the space 7 by the Coanda effect, and finally the jet 11 is output from the output port 5a through the jet output path 4a. When the output destination of the jet is switched from the output port 5a to the output port 5b, when the control valve 9a is opened and the control valve 9b is shut off, the jet 11 is similarly output from the output port 5b.

  As described above, in the fluid path switching element according to the first embodiment, the output direction of the jet 11 can be switched by opening and closing the control valves 9a and 9b. Since the pressure and flow rate of the fluid flowing through the control paths 8a and 8b are very small compared to the pressure and flow rate of the jet 11, the control valves 9a and 9b are smaller than when the valves are directly provided in the jet output paths 4a and 4b. A valve is sufficient. Further, when the fluid flows into the space 7 from the control paths 8a and 8b, the negative pressure caused by the vortex generated around the jet 11 is used, so there is no need to connect a fluid source to the control paths 8a and 8b. . That is, the direction of the jet 11 can be switched by a very simple mechanism.

  Such a fluid path switching element according to the embodiment was prototyped and tested. FIG. 3 shows the fluid path switching element used in the prototype and experiment. The same parts as those of the fluid path switching element according to the embodiment shown in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted. A measurement point 12 for measuring displacement is attached to the main body 1 so that it can be detected from which of the jet flow paths 4a and 4b the jet flow 11 is output.

  Assuming that the prototype and experimental apparatus shown in FIG. 3 use air as a fluid (for example, a flying object that moves in the air), the pressure of the fluid 10 in the nozzle 6 is set to 0.1 MPa to 0.25 MPa, and the nozzle 6 The flow rate of the jet 11 to be ejected is set to 20.0 L / min to 55.0 L / min, the opening area of the nozzle unit 6, the control paths 8 a and 8 b, the output ports 5 a and 5 b, the pressure of the fluid 10, and the jet 11 The experiment was carried out by changing the flow rate of. Table 1 shows the results of whether or not three types of experiments can be switched by changing the area of the nozzle section 6, the areas of the control paths 8a and 8b, and the areas of the output ports 5a and 5b. FIG. 4 is a graph plotting whether or not switching is possible when various conditions of pressure and flow rate are changed.

  Within the range of the flow rate and pressure described above, the fluid path switching element of condition 1 and condition 3 was not able to switch the jet output path, but the fluid path switching element of condition 2 was that the pressure of the fluid 10 in the nozzle portion 6 was 0. The output path of the jet was able to be switched under the condition that the flow rate of the jet 11 ejected from the nozzle unit 6 was 168 MPa or more and 43 L / min or more.

As described above, according to the prototype of the fluid path switching element according to the first embodiment and the experimental results, the pressure of the fluid 10 in the nozzle portion 6 is 0.1 MPa or more and 0.25 MPa or less, and the jet is ejected from the nozzle portion 6. 11 is 20.0 L / min or more and 55.0 L / min or less and the fluid path switching element is used, the opening area of the nozzle portion 6 is 0.32 mm ² or more and less than 5.0 mm ² , and the control paths 8a and 8b The opening area (control path area) on the nozzle part 6 side is 0.32 mm ² or more and less than 5.0 mm ² , and the cross-sectional opening area (output port area) of the narrowest part of the jet flow output paths 4a and 4b is 1.6 mm ² or more and 25. It was found that if it is less than 0.0 mm ² , it is possible to find a condition that allows the switching of the jet output path.

  In the fluid path switching element according to the first embodiment, the two control paths 8a and 8b are switched by the two control valves 9a and 9b, but can be switched by only one three-way valve shown in FIG. It is. An input port 14a provided in the three-way valve body 13 is open to the outside of the fluid path switching element. On the other hand, the output ports 14b and 14c are connected to the control paths 8a (first path) and 8b (second path) of the fluid path switching element. As the switching valve 15 reciprocates, the connection destination of the input port 14a is switched to either the output port 14b or 14c. As a result of switching to the output ports 14b and 14c, the connection between the outside of the fluid path switching element and the control paths 8a and 8b is switched, and the jet output direction is the jet output path 4a (first jet output path), 4b ( (Second jet output path).

(Second Embodiment)
Hereinafter, a free moving body in fluid according to a second embodiment of the present invention will be described with reference to FIG. The same parts as those of the first embodiment according to the present invention are denoted by the same reference numerals, and the description thereof is omitted.

  A fluid input path 2 is provided inside the main body 1 of the fluid path switching element. One end of the fluid input path 2 is an input port 3 that can be connected to a fluid supply source. The other end of the fluid input path 2 is divided inside the main body 1 and connected to one end of a plurality (two in the present embodiment) of jet output paths 4a and 4b. The other ends of the jet output paths 4a and 4b serve as output ports 5a and 5b for outputting the jet to the outside of the main body.

  A nozzle portion 6 is provided in the middle of the fluid input path 2. The cross-sectional area of the fluid input path 2 in the direction substantially orthogonal to the fluid flow is such that the fluid input path 2 is a plurality of jets from the nozzle section 6 so that the fluid flows into the wide space 7 immediately after passing through the nozzle section 6. It changes over the part connected to the output paths 4a and 4b.

  In the vicinity of the nozzle portion 6 between the nozzle portion 6 and the divided portion where the fluid input path 2 is divided into a plurality of jet output paths 4a and 4b, the same number of control paths as the jet output paths 4a and 4b (this embodiment) 2) 8a and 8b are provided. One end of the control paths 8 a and 8 b on the nozzle part 6 side opens into the space 7. The ends (other ends) opposite to the space 7 of the control paths 8 a and 8 b are connected to one ends of output pipes 52 a and 52 b provided in the casing 51 of the three-way valve 50 by the connection path 53.

  A space 54 is provided inside the housing 51. Opposite ends of the output tubes 52 a and 52 b are opened in the space 54. By closing the contact portion 55a (first contact portion) which is the opening of the output pipe 52a, the end opposite to the space 7 of the control path 8a is closed. Similarly, by closing the contact portion 55b (second contact portion) which is the opening portion of the output pipe 52b, the end opposite to the space 7 of the control path 8b is closed.

  A piezoelectric element 56 is provided in the space 54. The piezoelectric element 56 is electrically connected to the current supply means 57. When a current is applied from the current supply means 57 to the piezoelectric element 56, the piezoelectric element 56 is elastically deformed in the bending direction of the piezoelectric element 56, and the elastic element causes the tip of the piezoelectric element 56 to approach or separate from the contact portions 55a and 55b. As described above, the piezoelectric element 56 is provided. Which one of the contact portions 55a and 55b is away from and closer to which of the contact points 55a and 55b is selected depending on the polarity of the current applied to the piezoelectric element 56.

  Near the tip of the piezoelectric element 56, a contact portion 58 made of a packing member such as rubber is provided. When the piezoelectric element 56 is elastically deformed, the contact portion 58 comes into contact with the contact portions 55a and 55b and can close the contact portions 55a and 55b. That is, the contact portions 58a and 55b can be closed by moving the contact portion 58 to a position where it comes into contact with the contact portions 55a and 55b. Whether the contact portion 58 moves away from which of the contact portions 55a and 55b contacts with which of the contact portions 58a or 55b is selected according to the polarity of the current applied to the piezoelectric element 56.

  The housing 51 is provided with an input tube 59. One end of the input tube 59 is opened to the space 54, and the other end is opened to the outside of the housing 51 and the main body 1. Therefore, the three-way valve 50 closes the contact portion 55a or 55b at the contact portion 58 by switching the polarity of the current applied from the current supply means 57 to the piezoelectric element 56, and is opposite to the space 7 of the control paths 8a and 8b. Is configured to be able to switch between a state in which the end is opened to the outside of the casing 51 and the main body 1 or a state in which the end is not opened.

  Thus, in the fluid path switching element according to the second embodiment, the output direction of the jet 11 can be switched by the three-way valve 50. Since the pressure and flow rate of the fluid flowing through the control paths 8a and 8b are very small compared to the pressure and flow rate of the jet 11, the three-way valve 50 is smaller than when the valves are directly provided in the jet flow paths 4a and 4b. It is enough. Further, when the fluid flows into the space 7 from the control paths 8a and 8b, the negative pressure caused by the vortex generated around the jet 11 is used, so there is no need to connect a fluid source to the control paths 8a and 8b. . That is, the direction of the jet 11 can be switched by a very simple mechanism.

  Further, in the fluid path switching element according to the second embodiment, only two systems are switched, but the present invention can also be applied to switching of three systems or more.

  Further, in the fluid path switching element according to the second embodiment, the main body 1 and the casing 51 are configured by different members, but the main body 1 and the casing 51 may be configured integrally.

  Further, as shown in FIG. 8, the piezoelectric element 56 a and the extension member 60 may be used in combination instead of the piezoelectric element 56.

  Inside the space 54, a piezoelectric element 56a is provided. The piezoelectric element 56 a is electrically connected to the current supply means 57. One end of the piezoelectric element 56a is fixed to the housing 51, and an extension 60 is provided at the other end. When current is applied to the piezoelectric element 56a from the current supply means 57, the piezoelectric element 56a is elastically deformed in the bending direction of the piezoelectric element 56a, and the elastic deformation causes the tip of the extension portion 60 to approach or separate from the contact portions 55a and 55b. As described above, the piezoelectric element 56a and the extension 60 are provided. Which of the contact portions 55a and 55b is away from and which of the extension portions 60 is closer to is selected depending on the polarity of the current applied to the piezoelectric element 56a.

  A fulcrum 61 is provided inside the space 54. The fulcrum 61 supports the vicinity of the other end of the piezoelectric element 56a so that the piezoelectric element 56a can be elastically deformed in the bending direction of the piezoelectric element 56a, that is, a free end. When the piezoelectric element 56a is supported by the fulcrum 61, the reciprocating distance of the reciprocating motion in which the tip of the extending portion 60 approaches or separates from the contact portions 55a and 55b is increased by sufficiently taking the length of the extending portion 60. Become.

  A contact portion 58 made of a packing member such as rubber is provided near the tip of the extension portion 60. When the piezoelectric element 56a is elastically deformed, the contact portion 58 can contact the contact portions 55a and 55b and close the contact portions 55a and 55b.

  As described above, in the fluid path switching element according to the modification of the second embodiment according to the present invention, the tip of the extension 60 is in contact with the contact portion 55a, compared to the fluid path switching element according to the second embodiment according to the present invention. Since the reciprocating distance of the reciprocating motion that approaches and separates from 55b can be increased, the operation of opening and closing the contact portions 55a and 55b can be reliably performed even when the small piezoelectric element 56a is used. That is, the fluid path switching element can be further downsized.

  Further, as shown in FIGS. 9 and 10, an annular member 63 having a guide portion 62 may be used instead of the contact portion 58. The annular member 63 is provided so as to be slidable along the extension portion 60 by the guide portion 62. When an electric current is applied to the piezoelectric element 56a and the annular member 63 is brought into contact with the contact portions 55a and 55b, the annular member 63 is collapsed into an elliptical shape as shown in FIG. 9 and comes into contact with the contact portions 55a and 55b. The contact portions 55a and 55b can be closed. When the annular member 63 is collapsed into an elliptical shape and the annular member 63 closes the contact portions 55a and 55b, the sealing performance of the annular member 63 and the contact portions 55a and 55b is improved, and the contact portions 55a and 55b are opened. It is possible to reliably perform the closing operation.

(Third embodiment)
Hereinafter, a free moving body in fluid according to a third embodiment of the present invention will be described with reference to FIG.

  When the body 20 of the free moving body in fluid composed of the body 21 and the four steering blades 22a to 22d moves in the fluid, the posture is controlled by controlling the balance of the force applied to the body 20 from the fluid. Hereinafter, one of the four steering blades 22a to 22d will be described. The other three steering blades 22a and 22c to 22d are the same in configuration and operation as the steering blade 22b, and thus description thereof is omitted.

  On the surface of the steering blade 22b, output ports (spout ports) 23a and 23b for ejecting a jet are provided. Inside the body 20, the fluid path switching element according to the first embodiment is provided. In addition, the same part as each part of the fluid path | route switching element by embodiment shown in FIGS. 1-2 is shown with the same code | symbol, and the description is abbreviate | omitted. The fluid path switching element according to the first embodiment is supplied with fluid (not shown) from the fluid source 24. A jet flow is formed by the fluid path switching element according to the first embodiment, and the jet flow can be ejected from one of the output ports 23a and 23b provided on the surface of the steering blade 22b.

  Next, the force applied to the steering blade 22b by the jets ejected from the output ports 23a and 23b will be described with reference to FIG. Around the steering blade 22b, fluid flows 25a and 25b flow so as to adhere to the steering blade 22b. As shown in FIG. 12A, when the jet 11 is not ejected, the flows 25a and 25b flow around the steering blade 22b. However, as shown in FIG. 12B, when the jet stream 11 is ejected from the output port 23a, the flow direction of the flows 25a and 25b is deflected, and the force 26 in the direction perpendicular to the fluid flow direction is exerted on the steering blade 22b. Occurs.

  Thus, the free moving body in fluid according to the third embodiment requires much less space, weight, and energy for the control mechanism than the conventional free moving body in fluid. It becomes possible to reduce the size and weight. This not only increases the degree of freedom in designing the free moving body in the fluid, but also reduces the kinetic energy of the free moving body in the fluid, reduces the resistance to the fluid, extends the cruising distance, and improves the motion performance. realizable.

  Instead of the control valves 9a and 9b, a three-way valve, for example, the three-way valve 50 used in the fluid path switching element according to the second embodiment of the present invention may be used. For example, as shown in FIG. 13, a three-way valve 50 can be provided inside the steering blade 22b. At this time, the input tube 59 is opened to the outside of the body 20 at an arbitrary position of the body 20. The output pipes 52a and 52b communicate with the control ports 8a and 8b. As described above, in the fluid free moving body according to the modification of the third embodiment, the three-way valve 50 is provided inside the steering blade (representatively, the steering blade 22b in FIG. 13) instead of the control valves 9a and 9b. As a result, the body 20 can be further downsized.

(Fourth embodiment)
Hereinafter, a posture control method for a free moving body in fluid according to a fourth embodiment of the present invention will be described with reference to FIGS. 11, 14, and 15.

  In a fluid free moving body having four steering blades 22a to 22d, the posture of the fluid free moving body can be freely adjusted in any of the yawing direction, the pitching direction, and the rolling direction by combining four steering blades. It can be controlled. For example, in FIG. 11, when the body of the free moving body in fluid is directed upward in the figure (pitching direction), the pressure distribution of the fluid flowing around the steering blades 22a and 22b is reduced vertically downward with respect to the fluid flow direction. If the force is generated, the posture of the free moving body in the fluid changes in the target direction. At this time, depending on conditions such as the resistance of the fluid and the thrust generated by the free moving body itself in the fluid, the traveling direction also changes at the same time.

  At this time, when posture control is performed so as to obtain an optimum posture with respect to the target position, the speed of the posture change of the free moving body in the fluid is also important. Sometimes a rapid posture change is required to reach the target position, and sometimes the resistance to the fluid is minimized during the posture change, and the amount of kinetic energy of the free moving body in the fluid is kept as much as possible. Therefore, a gradual change in posture may be required. In such a case, the ratio of the time during which the jet is ejected from each ejection port is controlled.

  FIG. 14 shows a block diagram of the present embodiment.

  The fluid free moving body is provided with a position information sensor 31 for obtaining position information of the fluid free moving body. For the position information sensor 31, for example, a radar, an infrared camera, a GPS, or the like is often used. The free moving body in fluid is provided with a motion state sensor 33 for obtaining information on the moving state of the free moving body in fluid, such as speed and posture. As the motion status sensor 33, for example, a geomagnetic sensor, a speedometer, an angular speedometer, or the like is often used. In order to generate a force on the steering blades 22a to 22d of the free moving body in the fluid, for example, the fluid path switching element shown in the first embodiment is provided, and the output path of the jet is switched by the control valves 9a and 9b. The position information sensor 31, the exercise condition sensor 33, and the control valves 9a and 9b are connected to the control device 32 to control input / output.

  FIG. 15 shows a flowchart of the present embodiment.

  First, the control device 32 for the free moving body in fluid acquires information on the direction (F) and distance (D) of the target arrival position relative to the current position of the free moving body in fluid from the position information sensor 31 (S1).

  Next, the control device 32 that has obtained the information on the direction and distance of the target reaching position has already reached the target if the free moving body in the fluid is less than or equal to the preset distance (threshold) with respect to the target reaching position. It is determined that the position has been reached. When the target reaching position has not been reached, the control device 32 for the free moving body in fluid starts posture control for approaching the target reaching position (S2).

  Subsequently, the control device 32 of the free moving body in fluid acquires information about the current state of motion of the free moving body in fluid, for example, speed (v) and posture (S) from the motion state sensor 33 (S3). ). From the information on the direction and distance of the target reaching position and the current motion of the free moving body in the fluid, the control device 32 determines the target posture and the difference between the current posture and the target posture (ΔS), that is, the fluid for approaching the target reaching position. The steering amount of the middle free moving body is determined (S4).

The control device 32 determines the ratio (C _x x = 1 to 8) of the ejection time during which the jet flow is ejected from a total of eight output ports provided in the steering blades 22a to 22d according to the determined steering amount ( S5) A jet is ejected according to the ratio of the ejection time determined from each output port, the posture of the free moving body in the fluid is brought close to the target posture (S6), and the distance (F) and direction (D) of the target arrival position again. Return to (S1).

  Next, details of the procedure (S6) for ejecting the jet will be described with reference to FIGS. 15 (a) and 15 (b). The control device 32 determines the ejection time according to the ratio of the ejection time. At this time, two methods can be considered for determining the ejection time.

  First, the method shown in FIG.

The cycle time required for one control unit for ejecting the jet, that is, the unit ejection time (t ₁ ) is determined according to the conditions such as the moving speed and weight of the free moving body in the fluid. The unit ejection time may be a constant determined in advance or may be a variable determined separately according to the situation of the free moving body in the fluid.

The unit ejection time t ₁ is divided into the determined ejection time ratio, and the ejection time (T _X = t ₁ × C _x / ΣC X = 1 to 8) for ejecting the jet from each ejection port is determined (Sa1). At this time, when the ejection time during which the fluid path switching element of the first embodiment cannot be switched, that is, a short ejection time exceeding the response performance of the fluid path switching element, the ejection time (Tx) is zero (no ejection). Alternatively, the value should not exceed the response performance of the fluid path switching element.

After determining the time during which the jet flow is ejected from each ejection port, the control device 32 sets a counter (1 to 8 in the present embodiment) (Sa2). Controller 32 divided jetting time (T _X X = 1~8), the jet from the spout _N switches the control valve of the corresponding fluid path switching element to eject (Sa3). Specifically, for example, the processing unit 34 in the control device 32 sets the control valve opening time (spout time T _X ) and shut-off time (unit spray time t ₁ -spout time T _X ) to the timer circuit in the control device 32. Output to an interface 35 having an IO control circuit. The interface 35 opens and closes each control valve in accordance with the output of the processing unit 34. The control device 32 repeats this by the number of outlets using a counter (Sa4), and returns to the main routine.

  Next, the method shown in FIG. 15B will be described.

From the response performance of the fluid path switching element, the shortest time (minimum ejection time t ₂ ) during which the fluid path switching element can switch the jet flow is determined. The control device 32 obtains the product of the ratio of the minimum ejection time t ₂ and the determined ejection time (ejection time T _X = C _x × t ₂ X = 1 to 8) (Sb1).

After determining the time during which the jet flow is ejected from each ejection port, the control device 32 sets a counter (1 to 8 in the present embodiment) (Sb2). The control device 32 switches the control valve of the corresponding fluid path switching element so that the jet flow is ejected from the ejection port _N for the determined ejection time (T _X X = 1 to 8) (Sb3). Specifically, as in the example of FIG. 15A described above, for example, the processing unit 34 in the control device 32 is configured such that the opening time (spout time T _X ) and shut-off time (Σ spout time T−spout time T) of each valve. _X ) is output to an interface 35 having a timer circuit and an IO control circuit in the control device 32, and the interface 35 opens and closes each control valve according to the output of the processing unit 34. The control device 32 repeats this as many times as the number of jets using a counter (Sb4), and returns to the main routine.

  Here, the response performance of the fluid path switching element was tested using the fluid path switching element shown in FIG. 3, and the results will be described with reference to FIG. Here, the upper graph in FIG. 5 shows the acceleration at the measurement point 12, and the lower graph shows the input signals to the control valves 9a and 9b. As shown in FIG. 5, even when the control valves 9a and 9b are switched at a high speed of 10 Hz and 20 Hz, it has been confirmed that the jet 11 can be switched to the output ports 5a and 5b in accordance with the switching of the control valves 9a and 9b. .

  As described above, the posture control method of the free moving body in the fluid according to the fourth embodiment causes the jets to be ejected from the respective ejection outlets in accordance with the ratio of the ejection time. Even if you want to, you can respond. In addition, the fluid path switching element according to the fourth embodiment is capable of switching the jet destination of the jet at a very high speed. By iterating, analog (proportional) steering such as an intermediate steering amount and a temporal change in the amount is possible, and smooth attitude control is possible.

  In addition, this invention is not limited to each embodiment as mentioned above, A shape, a material, and a structure may be changed and it changes and implements within the range which does not deviate from the meaning of this invention. it can. For example, in the posture control method of the free moving body in fluid according to the fourth embodiment, an example in which the call of the procedure (S6) for ejecting the jet is performed once for the determination of the target posture once. However, for example, the procedure (S6) for ejecting the jet may be called a plurality of times for one determination of the target posture. It is also possible to arbitrarily determine the balance from the response performance of the sensor, the arithmetic processing capability of the control device 32, and the response performance of the fluid path switching element.

  Further, the two methods shown in FIGS. 15A and 15B can be used in combination with the other method or another method, or the fluid path switching element shown in FIG. 11 is provided inside the steering blade. It doesn't matter if you do.

The block diagram which shows 1st Embodiment of the fluid path | route switching element by this invention. The block diagram which shows 1st Embodiment of the fluid path | route switching element by this invention. The block diagram which shows the experimental sample of the fluid path | route switching element by this invention. The figure which shows the experimental result of the fluid path | route switching element by this invention. The figure which shows the experimental result of the fluid path | route switching element by this invention. The block diagram which shows the modification of 1st Embodiment of the fluid path | route switching element by this invention. The block diagram which shows 2nd Embodiment of the fluid path | route switching element by this invention. The block diagram which shows the modification of 2nd Embodiment of the fluid path | route switching element by this invention. The block diagram which shows the modification of 2nd Embodiment of the fluid path | route switching element by this invention. The block diagram which shows the modification of 2nd Embodiment of the fluid path | route switching element by this invention. The block diagram which shows embodiment of the free-moving body in fluid by this invention. The fragmentary sectional view which shows embodiment of the free-moving body in fluid by this invention. The fragmentary sectional view which shows the modification of embodiment of the free-motion body in fluid by this invention. The block diagram which shows embodiment of the attitude | position control method of the free motion body in fluid by this invention. The flowchart which shows embodiment of the attitude | position control method of the free-moving body in fluid by this invention. The block diagram of the conventional free-moving body in fluid. The block diagram of the conventional free moving body in a fluid. The elements on larger scale of the conventional free moving body in fluid. The block diagram of the conventional free-moving body in fluid. The block diagram of the conventional free-moving body in fluid.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body 2 Fluid input path 3 Input port 4a, 4b Jet output path 5a, 5b Output port 6 Nozzle part 7 Space 8a, 8b Control path 9a, 9b Control valve 10 Fluid 11 Jet 12 Measuring point 13 Three-way valve main body 14a Input port 14b Output port 15 Switching valve 20 Body 21 Body 22a, 22b, 22c, 22d Steering blades 23a, 23b Output port 24 Fluid sources 25a, 25b, 25c Flow 26 Force 31 Position information sensor 32 Controller 33 Motion status sensor 34 Processing unit 35 Interface 40 Wall surface 50 Three-way valve 51 Housing 52a, 52b Output pipe 53 Connection path 54 Space 55a, 55b Contact portion 56 Piezoelectric element 57 Current supply means 58 Contact portion 59 Input tube 60 Extension member 61 Support point 62 Guide portion 63 Annular member 101 Body 102 Steering wing 103 Main wing 104 Flap 1 6 vertical tail 107 rudder 108 tailplane 109 elevator 110 fluid 111 lift 112 Senkaji 113 fuselage 114 jet orifice 115 jet engine 116 control surfaces

Claims (13)

A fluid input path for inputting fluid into the body of the fluid path switching element;
A nozzle part provided in the fluid input path, and generating a jet by accelerating the fluid;
A plurality of jet output paths connected to the fluid input path and outputting the jet to the outside of the main body;
A plurality of control paths in which one end is opened in the fluid input path between the nozzle portion and the jet output path, and the other end is opened to the outside of the main body,
A fluid path switching element provided on the control path, and having a control valve that switches the open state of the control path to the outside of the main body to either open or shut off. A fluid input path for inputting fluid into the body of the fluid path switching element;
A nozzle part provided in the fluid input path, and generating a jet by accelerating the fluid;
A first jet output path and a second jet output path that are connected to the fluid input path and output the jet to the outside of the main body;
One end of the fluid input path between the nozzle portion and the first jet output path and the second jet output path is opened, and the other path is opened to the outside of the main body and the second path. A control path having two paths;
Provided in the control path, the first path is opened to the outside of the main body, the second path is blocked, the first path is blocked, and the second path is outside the main body A fluid path switching element comprising a three-way valve that switches to one of the open states. The three-way valve includes a first contact portion connected to the first path;
A second contact portion connected to the second path;
Provided between the first contact portion and the second contact portion so as to be able to reciprocate between a position in contact with the first contact portion and a position in contact with the second contact portion. Contacted portion,
A piezoelectric element provided so as to be able to move the contact portion to a position in contact with the first contact portion or a position in contact with the second contact portion by applying an electric current;
The fluid path switching element according to claim 2, comprising:   The piezoelectric element selects the polarity of the current to move the contact portion to a position that contacts the first contact portion or a position that contacts the second contact portion. The fluid switching element according to claim 3, wherein the fluid switching element can be selected. The pressure of the fluid of the nozzle part is 0.1 MPa or more and 0.25 MPa or less,
And the flow rate of the jet ejected from the nozzle part is 20.0 L / min or more and 55.0 L / min or less,
An opening area of the nozzle portion is 0.32 mm ² or more and less than 5.0 mm ² ;
And an opening area on the one end side of the control path is 0.32 mm ² or more and less than 5.0 mm ² ,
5. The fluid path switching element according to claim 1, wherein a cross-sectional opening area of the narrowest portion of the jet output path is 1.6 mm ² or more and less than 25 mm ² . A body that can move in fluid,
A fluid input path for inputting fluid;
A nozzle part provided in the fluid input path, and generating a jet by accelerating the fluid;
A plurality of jet output paths connected to the fluid input path for outputting the jet to the outside of the body;
A plurality of jets provided in the body and discharging jets from the jet output path to the outside of the body;
A plurality of control paths having one end opened in the fluid input path between the nozzle part and the jet output path, and the other end opened to the outside of the body,
A control valve that is provided in the control path, and switches the open state of the control path to the outside of the body to either open or shut off;
A free moving body in fluid, wherein the jet valve is switched from one of the plurality of jet nozzles by controlling the control valve. A body that can move in fluid,
A fluid input path for inputting fluid;
A nozzle part provided in the fluid input path, and generating a jet by accelerating the fluid;
A plurality of jet output paths connected to the fluid input path for outputting the jet to the outside of the body;
A plurality of jets provided in the body and discharging jets from the jet output path to the outside of the body;
A plurality of control paths having one end opened in the fluid input path between the nozzle part and the jet output path, and the other end opened to the outside of the body,
Provided in the control path, a part of the control path is opened to the outside of the body, the other part of the control path is blocked, and a part of the control path is blocked, A three-way valve that switches to one of the states where the other part is opened to the outside of the body,
By controlling the three-way valve, a free moving body in fluid that switches which of the plurality of jet outlets jets the jet is switched. The three-way valve includes a first contact portion connected to the first path;
A second contact portion connected to the second path;
Provided between the first contact portion and the second contact portion so as to be able to reciprocate between a position in contact with the first contact portion and a position in contact with the second contact portion. Contacted portion,
A piezoelectric element provided so as to be able to move the contact portion to a position in contact with the first contact portion or a position in contact with the second contact portion by applying an electric current;
The free moving body in fluid according to claim 6, wherein:   The piezoelectric element selects the polarity of the current to move the contact portion to a position that contacts the first contact portion or a position that contacts the second contact portion. The free moving body in fluid according to claim 8, which can be selected. The pressure of the fluid of the nozzle part is 0.1 MPa or more and 0.25 MPa or less,
And the flow rate of the jet ejected from the nozzle part is 20.0 L / min or more and 55.0 L / min or less,
An opening area of the nozzle portion is 0.32 mm ² or more and less than 5.0 mm ² ;
And an opening area on the one end side of the control path is 0.32 mm ² or more and less than 5.0 mm ² ,
10. The free moving body in fluid according to claim 6, wherein a cross-sectional opening area of the narrowest portion of the jet output path is 1.6 mm ² or more and less than 25 mm ² . A body that moves in fluid,
A plurality of jets for jetting jets provided in the body;
In a posture control method for a free moving body in fluid having a control valve for switching which of the plurality of jet outlets jets the jet.
Obtaining a difference between the target posture and the current posture from the direction, distance and the current posture with respect to the attainment target;
Obtaining a ratio of jetting times of jets jetted from the plurality of jets based on the difference; and
Controlling the opening and closing of the control valve corresponding to the jet outlet in order to jet the jet for a jet time corresponding to the ratio of the jet time;
A posture control method for a free moving body in fluid, comprising:   The posture control method of the free moving body in fluid according to claim 11, wherein the ejection time is a product of a ratio of the ejection time and a minimum ejection time.   The posture control method for a free moving body in fluid according to claim 11, wherein the ejection time is a time obtained by dividing a unit ejection time into a ratio of ejection times.

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