JPS59213592A - Resisting fin control type underwater sailing body - Google Patents

Abstract

PURPOSE:To improve the steering capacity such as convergence, safety, and follow-up of movement by providing resisting fins symmertrically furnished in three directions, forward/backward, left/right, and upward/downward, with respective control functions for extension for controlling the underwater attitude and direction. CONSTITUTION:When an underwater sailing body advancing with all resisting fins stored at a position A stops at a positon C, forward/backward propellers 6a are stopped or reversed and forward/backward resisting fins 4a and 4a' are extended together in accordance with the distance between a present position B and the positon C and the speed by a movement control system for stopping at the position C for sure. At the time of sudden turning, propellers 6a are stopped or reversed in accordance with the speed by the control system, and one of fins 4a and 4b is extended by the inertia after deceleration for sudden turning. For ward/backward or upward/downward control functions can be similarly obtained. Meanwhile, by adjusting extension amounts of forward/backward, left/right, and upward/downward resisting fins 4a-4c and 4a'-4c', the sailing body can be maintained at a fixed point or a stationary state or controlled in its attitude for sure.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an underwater vehicle, and more particularly to an underwater vehicle whose motion can be controlled by resistance fins.

Objects that travel underwater generally have much lower inertia than objects that travel on land, such as automobiles.

Therefore, as shown in FIG. 1, the underwater vehicle 1 traveling in the forward direction at position A recognizes the target position C at position B and stops the longitudinal thruster 6 to come to rest at position C. Alternatively, even if the underwater vehicle 1 rotates in the reverse direction, if recognition of the target position C is delayed due to poor visibility in the sea, the underwater vehicle 1 will pass through the position C and come to rest at a position a certain distance away.

Therefore, in order to suddenly stop the moving underwater vehicle 1 at a predetermined position, it is necessary to use highly skilled maneuvering techniques or a propulsion device with extraordinary propulsive force that can overcome the inertia of the underwater vehicle 1. The problem is that it requires

Note that the underwater vehicle 1 is remotely controlled via a tether cable 5 from the sea or from the ground.

On the other hand, when an underwater vehicle equipped with an automatic rolling mechanism performs fixed position maintenance control, haunch jig may occur due to the motion characteristics or propulsion layer characteristics of the underwater vehicle. It may not be possible to hold it in place.

Such a phenomenon means that in the motion system of a mathematically modeled underwater vehicle, the inertia term is extremely small and the damping class is small.

That is, by reducing the inertia term or increasing the damping class, the convergence of the motion system of the underwater vehicle is improved.

However, reducing the inertia term of an underwater vehicle means making the underwater vehicle itself smaller and reducing the amount of J added to the surrounding water. There is a problem in that it is not possible to significantly improve the convergence of the motion system of underwater vehicles due to the many constraints of the conditions and physical properties of water.

The present invention aims to solve these problems, and by providing a mechanism that increases the damping of the motion system, it not only improves the stability and convergence of the motion, but also reduces the longitudinal strain. It is an object of the present invention to provide a fin-controlled underwater vehicle with improved resistance.

Therefore, the resistance fin controlled underwater vehicle of the present invention is an underwater vehicle equipped with a propulsion device consisting of a propulsion device and a main engine for driving the same, and the resistance fins are provided symmetrically with respect to the direction of movement of the underwater vehicle. In addition to these 7-
a thrust adjustment function for controlling the thrust of the propulsion device, and a braking function for extending both the symmetrically provided resistance fins;
The present invention is characterized in that a motion control system is provided to control the posture or direction in which one of the fins is extended more than the other.

Below, a resistance fin-controlled underwater vehicle as an embodiment of the present invention will be explained with reference to the drawings. FIG. 2 is a perspective view thereof, FIG. 3 is a block diagram of its motion control system, and FIG.
The figure is a perspective view for explaining the effect.

As shown in FIG. 2, the underwater vehicle 1 includes a longitudinal propulsion device 6a, a left-right propulsion device 6b, and a vertical propulsion device 6c.
is provided.

And, the buoyancy material structure 2 of the underwater vehicle 1 is
3a, 3a', 3b, 3b' = 3c, 3c' are formed, and from each slit, fins for resistance in the longitudinal direction 4a; 4a', fins for resistance in the left and right direction 41];
b' and vertical resistance fins 4c; 4c' are extended.

These longitudinal resistance fins 4a; 4a', left-right resistance fins 4b; 4b', and downward resistance fins 4c;
The left and right thrusters 6bj and the two downward thrusters 6c are provided symmetrically with respect to the traveling direction of the underwater vehicle 1, and have surfaces perpendicular to the respective traveling directions.

J) The vertical resistance fins 4c and 4c' are provided in pairs symmetrically on both sides of the underwater vehicle J.

As shown in FIG. 1, 2, and 3, the motion control system 10 of the underwater vehicle 1 includes a control device 7, and drive mechanisms 8a, 8a', 8b, 8b' connected to this control device 7. 8c, 8
c' and main driving engines 9a, 9b, and 9c.

And drive mechanisms 8a, 8a', 8b, 8b', 8
c and 8c' are respectively longitudinal resistance fins 4a;
a' r Left and right direction resistance fins 4b: 4b' and vertical direction resistance fins 4c; 4c' are connected to these three sets of resistance fins 4a; 4a', 4b; 4b'
= 4c; 4c' is extended or retracted from the slits 3a, 3a', 3b, 3b', 3c, 3c' by an electric or hydraulic system.

Further, the driving main engines 9a, 9b, and 9c are connected to a longitudinal propulsion device 6a, a left-right propulsion device 6b, and a vertical propulsion device 6c, respectively, and these propulsion devices 6a, 61+, and 6
Together with c, the propulsion device of the underwater vehicle 1 is configured.

On the other hand, the control device 7 is connected to the offshore command unit S via a tether cable 5 so as to be able to remotely control the underwater vehicle 1, and also measures the speed, direction, and attitude of the underwater vehicle 1. It is connected to a speed sensor Ss, a direction sensor DS, and an attitude sensor AS.

Such a control device7. Drive mechanism 8a, 8a', 81
g8b', 8c, 8c' and main driving engine 9a19
The motion control system 10 configured by b and 9c is a longitudinal propulsion device 6a.

A thrust adjustment function that controls the thrust of the left-right thruster 6b and the vertical thruster 6c, respectively, and a front-back resistance fin 4a; 4a' + a lateral resistance fin 4A+
: 4b' and "1 downward resistance fin 4c; 4c'
These three sets of resistance fins 4a;

4b; 4b', 4c: 4c' In each case, one of the resistance fins is extended more than the other force to control the attitude or direction (skill) of the underwater vehicle 1.

These functions are controlled via the motion control system 10 in accordance with commands from the offshore command unit S and measurement data from the speed sensor SS, direction sensor DS, and attitude sensor AS. 1's movement is controlled.

In addition, one pair of the underwater vehicle 1 is provided on each side of the underwater vehicle 1.
Set of -1-F direction resistance fins 4. 4c and 4c' are respectively connected to two navy blue drive mechanisms 8c and 8c', and the motion control system 10 is connected to the resistance fins 4.c and 4c'. c; 4c or 4c':
The braking function and the posture or direction control function can also be controlled by the combination of 4c'.

Since the resistance fin controlled underwater vehicle of the present invention is configured as described above, all the resistance fins are retracted at position A and the longitudinal propulsion unit 6a is retracted as shown in FIG.
When the underwater vehicle 1 that is moving forward recognizes the target position C at position 1ffB and comes to rest at position C, the motion control system 10 receives the command to come to rest at position C at position B. Depending on the distance between positions B and C and the speed of the underwater vehicle 1, the longitudinal thruster 6a is stopped or reversed, and the longitudinal resistance fins 4a; 4a' are extended by an appropriate amount. Therefore, even if the underwater vehicle 1 receives resistance and the distance between the positions B and C is short, the underwater vehicle 1 can surely stand still at the position C.

In addition, when the underwater vehicle 1 that is moving forward with the longitudinal propulsion unit 6a is suddenly reversed, the motion control system 1o
Depending on the speed of the underwater vehicle 1, the longitudinal propulsion device 6a is stopped or reversed, and after decelerating the underwater vehicle 1 to an appropriate speed, the longitudinal resistance fin 4a is activated while traveling by inertia.
: One side of 4a' is extended.

Therefore, the underwater vehicle 1 is subjected to large resistance on one side and turns sharply.

Immediately before the reversal of the underwater vehicle 1 is completed, the longitudinal resistance fins 4a: 4a' and the lateral resistance fins L lr: 4 I+' are extended by an appropriate amount. The rotation of 1 to 1 is suppressed.

- In the example in which the forward and backward thrusters 6a and the forward and backward resistance fins ='la;4a' were used to explain the forward and backward braking function and the direction control function of the underwater vehicle 1, Squid direction thruster 61] and left and right direction resistance fins 41
1;4b' or by using the vertical thruster 6c and the vertical resistance fins 4c::4c', the braking function can be achieved in the left direction 5 direction or in the 2 downward direction, respectively, in the same way as in the longitudinal direction. Control of the direction of the underwater vehicle 1 (allows you to demonstrate your skills).

Further, by appropriately adjusting the overhang voltage of the longitudinal resistance fin 4a;/ia', the lateral resistance fin old 1; 4b', and the vertical resistance fin 4c; , the resistance acting on the underwater vehicle 1 is adjusted, and the underwater vehicle 1 can be reliably maintained at a fixed point, maintained in a steady state, or controlled in attitude.

As described in detail above, according to the resistance fin-controlled underwater vehicle of the present invention, an underwater vehicle equipped with a propulsion device consisting of a propulsion device and a main engine for driving the same can be symmetrical with respect to its traveling direction. In addition to providing resistance fins provided therein, a drive mechanism for extending and retracting these fins is provided, and a thrust adjustment function for controlling the thrust of the propulsion device described in 1. With a simple configuration, a motion control system is provided to control the braking function that extends both fins together, and the posture or direction control function that extends the force of one fin more than the other. This has the advantage that the convergence and stability of the underwater vehicle are significantly improved, and the maneuverability of the underwater vehicle, such as tracking ability, is also significantly improved.

Furthermore, since braking or sharp turns of the underwater vehicle are performed only by the resistance fins without using a propulsion device, there is an advantage that the propulsion energy of the underwater vehicle can be saved.

[Brief explanation of drawings]

Figure 1 is a perspective view f for explaining the braking action of a conventional underwater vehicle, and Figures 2 to 4 show a resistance fin-controlled underwater vehicle as an embodiment of the present invention. The second figure 1 is a perspective view of the underwater vehicle, the figure 1:tS3 is a block line of the motion control system, and the figure 1, Nλ1 is a perspective view for explaining its operation. 2. Buoyancy material structure, 3a+3a'
. 3+1. : Publication 1'+3C+3c'...Slit,
4a, 4a'...fins for longitudinal resistance, 4),,
41)' ...Fin for left and right direction resistance, 4c+ /↓
C'...Fin for vertical resistance, 5...Tether cable, 6a...Longitudinal propulsion device, 6b..Left and right propulsion device, 6c..Vertical blade propulsion device, 7..Control device, +ia,
8a'+8by8fl', 8c, 8c"" drive (
Structure, 9a%, river), 9c...Main engine for drive, 10...
Movement control system, SS...speed sensor, DS...force position sensor, AS...attitude sensor, S...ocean command unit. Sub-Agent Patent Attorney Yoshihiko Iinuma

Claims (1)

[Claims] An underwater vehicle equipped with a propulsion device consisting of a propulsion device and its main driving engine, which is equipped with resistance fins symmetrically provided with respect to the direction of propulsion, and a drive mechanism for extending and retracting these fins. Prepare, -
Thrust adjustment to control the thrust of the propulsion device, and braking to extend both of the symmetrically provided resistance fins as described above, and the posture or direction in which one of the same fins is extended more than the other. A resistance fin-controlled underwater vehicle, characterized in that it is provided with a motion control system for controlling the control functions of the vehicle.