JPH01240398A - Under water cruiser - Google Patents

Abstract

PURPOSE:To prevent an under water cruiser from making pitching and rolling motion so that the cruiser can make stable navigation by installing on the front and rear portions of the under water cruiser respectively horizontal wings each of which has right and left rudders moving together in the same direction and also providing, on its rear portion, a pair of upper and lower vertical tails having respective rudders operating independently from each other. CONSTITUTION:In the case of an unmanned underwater boat suitable for surveying an undersea space or the sea bottom area, horizontal wings 2, 5 having pairs of right and left rudders 3, 4 and 6, 7 respectively each pair of which make linked movement in the same direction, are installed on the front and rear portion of the fuselage 1 of the underwater boat. And a pair of upper and lower vertical tails 8 having respective rudders 9 and 10 operating indepen dently from each other are installed on the rear portion of the fuselage 1 and a propeller 11 for thrusting is installed on the most rear part of the fuselage 1. Then, the steering angles of the horizontal rudders 3, 4 and 6, 7 are controlled in compliance with a control rule for controlling the vertical speed and the pitch angle of the underwater boat independently from each other on the basis of the signals of the vertical speed and the pitch angle of the under water boat. Further, the steering angles of the vertical rudders 9, 10 are controlled in compli ance with a control rule for controlling a roll angle and a yaw angle independently from each other.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an underwater vehicle for exploring the sea and the seabed.

[Conventional technology]

Underwater vehicles can be classified as follows.

A Manned submersible A vehicle that is operated by a human.

B Cable-type unmanned submersible Although it is unmanned, it is operated from the mother ship through a cable.

C Unmanned unmanned submersible: An unmanned submersible that navigates underwater either autonomously or in a pre-programmed manner.

These conventional underwater vehicles use rudders attached to a pair of left and right horizontal stabilizers and several thrusters to change the depth from the sea surface or the altitude from the seabed. In addition, to change the set course, use the rudders attached to the two vertical tails and several thrusters.

[Problem to be solved by the invention]

The problem with conventional technology is that it is not possible to change the depth from the sea surface, the altitude from the seabed, or the set course without causing an underwater vehicle to pitch or roll (without changing the pitch angle or roll angle). was there.

[Means to solve the problem]

In order to solve the above-mentioned problems, in the present invention, horizontal wings 2 and 5 having left and right rudders 3, 4 and 6, 7 that are interlocked in the same direction on the left and right are attached to the underwater vehicle that travels at a constant speed. A technical measure is taken to provide a pair of upper and lower vertical stabilizers 8 having rudders 9 and 10 that operate independently.

[Effect]

By the above technical means A, it becomes possible to simultaneously control the horizontal wing rudders located at the front and rear of the underwater vehicle, and to independently control the vertical speed and pitch angle of the underwater vehicle, Utilizing this, it is possible to move up and down while keeping the pitch angle at zero. In addition, by the technical means of B above,
It is now possible to control the roll angle and yaw angle of the underwater vehicle independently by simultaneously controlling the rudders of the pair of upper and lower vertical tails of the underwater vehicle.Using this, it is possible to control the roll angle and yaw angle of the underwater vehicle independently. Changes are possible.

〔Example〕

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, an unmanned submersible (hereinafter referred to as a submersible) among underwater vehicles will be explained as an example.

FIG. 1 shows a plan view of the submersible, FIG. 2 shows a side view thereof, and FIG. 3 shows a perspective view. In the figure, left and right rudders 3, 4 . Horizontal wings 2, 5 with and 6, 7 are arranged at the front and rear of the fuselage 1 of the submersible. Further, a pair of upper and lower vertical stabilizers 8 having independently operating rudders 9 and 10 are arranged at the rear of the body 1 of the submersible, and a propeller 11 for propulsion is provided at the rearmost part.

Inside the submersible are a power source for driving, a motor for rotating the propeller, an actuator for controlling the rudder, various sensors that detect the attitude angle, speed, depth, etc. of the submersible, and controls for controlling the rudder based on sensor output signals. It is equipped with circuits and various exploration devices (various sonar, TV camera, etc.) for underwater and undersea exploration.

Based on the sensor signals of the vertical speed and pitch angle of the submersible, the rudder angles δa, δe of the horizontal rudders 3, 4, and 6.7 are determined using a control law that independently controls the vertical speed and pitch angle of the submersible.
By controlling the pitch angle, it is possible to perform ascending and descending motions with a pitch angle of zero. Similarly, using a control law that independently controls the roll angle and yaw angle, the vertical rudder 9, 10
By controlling the steering angles δU and δ1, it is possible to change course while keeping the roll angle at zero.

〔Effect of the invention〕

Since the underwater vehicle of the present invention does not cause pitching or rolling, it is possible to change the depth from the sea surface, the altitude from the seabed, and the set course, making stable exploration of the sea and seabed possible.

[Brief explanation of the drawing]

FIG. 1 particularly shows a plan view of an untethered submersible according to an embodiment of the present invention. FIG. 2 shows its side view. FIG. 3 shows a perspective view thereof. 1...fuselage, 2,5...horizontal wing, 3,
4,6゜7...Horizontal rudder, 8...Vertical wing, 9,10...Vertical rudder, 11...Propeller, X, Y, Z・・・・・・Three axes of the submersible,
θ...Pitch angle of the submersible, ψ...Yaw angle of the submersible, φ...Roll angle of the submersible, δa・
... Rudder angle of horizontal rudders 3 and 4, δe ... Rudder angle of horizontal rudders 6 and 7, δU ... Rudder angle of vertical rudder 9,
δ1... Rudder angle of the vertical rudder 10. Agent Patent Attorney Oto Uchihara 61

Claims (3)

[Claims] (1) In an underwater vehicle that travels underwater, horizontal wings with rudders movable in the same left and right directions are placed at the front and rear of the vehicle, and a pair of upper and lower vertical tails each have independently operating rudders. An underwater vehicle characterized by being provided with. (2) The water vehicle according to claim 1, wherein the vertical speed and pitch angle of the underwater vehicle are independently controlled by controlling rudders of horizontal wings arranged at the front and rear parts of the underwater vehicle. Medium navigation vehicle. (3) An underwater vehicle according to claim 1, wherein a roll angle and a yaw angle are independently controlled by controlling rudders of a pair of upper and lower vertical tails of the underwater vehicle.