JPS5993200A - Self-sinking type underwater sailer - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an underwater vehicle, and more particularly to a scuttling underwater vehicle equipped with a control device that controls a thrust system and a steering system.

In conventional underwater vehicles, the search depth is usually set by an external command before launching, and the thrust system allows the vehicle to travel at full speed at a certain penetration angle until it reaches the set depth. Something was being done.

However, if the thrust system is constantly operating, there is a problem in that the search function of the underwater vehicle deteriorates due to the influence of noise generated from the thrust system, and the thrust system constantly generates noise. If there is, there is also the problem that the target, who is the search target, will sense it.

The present invention attempts to solve the above-mentioned problems with underwater vehicles, and improves the search function by alternately repeating diagonal descent by scuttling and diagonal ascent by thrust. The purpose is to provide a scuttling underwater vehicle with improved features.

Therefore, the scuttling underwater vehicle of the present invention has a thrust system control m+
It is equipped with a complete control device that controls the steering system and the upper limit depth, and has a steering system program for moving forward while repeatedly diagonally descending and diagonally rising between the upper limit depth and the lower limit depth. a control means, and a thrust control means having a thrust system program for stopping the thrust system during the diagonal descent due to scuttling and activating the thrust system during the diagonal ascent, It is characterized by the fact that it was established.

Hereinafter, one embodiment of the present invention and a scuttling underwater vehicle will be explained with reference to the drawings. FIG. 3 is an explanatory diagram showing an example of the operation, FIG. 4 is an explanatory diagram showing another example of the operation, and FIG. 5 is a book diagram of the control system. be.

As shown in FIG. 1, this scuttling underwater vehicle 1 has a double-rotating motor 5 connected to a main battery 9 through thrust system electric lines 2 and 3, and a double-rotating front propeller 7 and a rear propeller 7. The propellers 8 are driven to rotate in opposite directions by the counter-rotating motor 5 via the counter-rotating shaft 6.

A switch 11 is inserted in the electric path 2.

In addition, the steering gear [4] receives a control signal from the control system [ql]0 connected to the main battery 9 via the control system electric line 4 with a switch 12 through the steering signal line 13, thereby controlling the vertical rudder 15 and the transverse rudder 16. It can be controlled.

The control device 10 has a function of controlling the opening and closing of each switch 11, 12, and is also connected to the depth side 17 so as to receive a detection signal.

Since this underwater vehicle l is a scuttling type, as shown in Figure 2, when it sinks due to its negative buoyancy, the sinking force F
It can be propelled by the component force F' of , and can sneak into fresh water like a glider.

Utilizing such properties, the scuttling underwater vehicle of the present invention can be constructed by diagonally descending a between the upper limit depth and the lower limit depth, and by ascending the remaining one, as shown in Fig. 3. The above-mentioned control device 1 is the steering control means that holds this useless steering system program.
It is set to 0.

That is, as shown in FIG.
The comparison signal between the signal from the depth side 17 and the signal from the upper limit depth setting device 18 is human-powered, and the comparison signal between the signal from the depth side 17 and the signal from the lower limit depth setting device 19 is ``Entered'' is set to ``Entered''. Based on these human signals, steering signals for up and down steering are sent to the steering machine 14.

For steering left and right, a control signal is sent to the steering gear 14 via the control device 10 based on the signal from the search sensor 20.

Furthermore, the control device 10 is configured to control the diagonal descent a due to the aforementioned scuttling.
A thrust system program that opens the thrust system electric circuit switch 11 to stop the thrust system when performing the above-mentioned diagonal ascent, and closes the thrust system electric circuit switch 11 to operate the thrust system when performing the above-mentioned diagonal ascending. It is equipped with thrust control means that possesses.

It should be noted that each of the above-mentioned control means is configured as a computer system consisting of a memory for storing the respective blogs, a CPU (central processing unit), an input/output interface, etc.

According to the above-mentioned scuttling underwater vehicle of the present invention, when it is desired to extend the cruising distance and it is not necessary to necessarily reach the target vessel in the shortest time, that is, when this underwater cruising object is If the target being tracked by the body is at a very long distance and the target is not yet aware that it is being tracked, the distance between the three-way limit depth and the bottom limit depth is as shown in Figure 3. Since diagonal descent a and diagonal rise are alternately repeated, and the thrust system can be stopped during diagonal descent a, the following effects can be expected.

(1) During the period when thrust is not used, any noise generated by the underwater vehicle's own 1゛ thrust system is completely eliminated, making it difficult for the target to detect it. Therefore, it becomes easier for the underwater vehicle to approach the target.

(2) During the period when thrust is not used, all noise generated in the thrust system of underwater vehicle J is completely eliminated, and the speed of underwater vehicle 1 is approximately 10 times that when thrust is used, so the flow Noise (friction noise generated when relative water flow rubs the head of a self-propelled underwater vehicle)
Phase 1 is the decrease in 1-- of the homing system of underwater vehicles.
Since the background noise is reduced, there is also the advantage that it becomes relatively easier to identify noise generated on the target side.

In this way, the homing range in which the underwater vehicle 1 can capture a target is further expanded.

FIG. 4 shows that when the scuttling submersible vehicle of the present invention is descending diagonally a, the steering is performed little by little to bring it to the horizontal state a', so that the search can be carried out efficiently and accurately in the horizontal state a'. This shows the case where the

As described in detail above, the scuttling underwater vehicle of the present invention is equipped with a control device that controls the thrust system and the steering system, and has a control device that controls the thrust system and the steering system. A steering control means having a steering system program for moving forward while alternately repeating a surplus descent and an oblique ascent, and a steering control means having a steering system program for moving forward while alternately repeating a surplus descent and an oblique ascent, and a steering control means that stops the thrust system when the above-mentioned oblique descent due to scuttling occurs, and when the above-mentioned oblique ascent occurs. A thrust control means having a thrust system program for operating the above-mentioned thrust system is installed in the control device, and during the period while using negative buoyancy (settling force) for propulsion, By making the underwater vehicle itself quiet, it can be prevented from being detected by the target,
Moreover, it can sufficiently improve the search performance for the target.

[Brief explanation of the drawing]

The figures show a scuttling underwater vehicle as an embodiment of the present invention.
The figure is a side view showing the state of diagonal yielding due to scuttling, the second figure is an explanatory diagram showing an example of the action, the fourth is an explanatory diagram showing another example of the action, and the fifth is an explanatory diagram showing another example of the action. It is a block diagram of the back splitting system. 1. Underwater vehicle, 2. :(... Thrust system electric circuit, 1...
Control system electrical circuit, 5. Double-rotating motor, 6. Double-rotating shaft, 7. Forward propeller, 8. Rear propeller, 9. Main battery, ] 0. Control device, 11. Thrust system. Electrical line switch, 12... Control system electric line switch, 1; 3... Steering signal line, 14... Steering gear, 15... Longitudinal rudder, 1G... Steering,
17. Depth meter, 18. Upper limit depth setting device, 19.
・Lower limit depth setting device, 20... Search sensor. Sub-Agent Patent Attorney Yoshihiko Iinuma Figure 4 (#Naruba1)] Noi () Figure 5

Claims (1)

[Claims] It is equipped with a control device that controls the thrust system and the steering system, and has a progressive steering system that allows the vessel to advance while alternately repeating diagonal descent and diagonal rise between the three-way limit depth and the lower limit depth. A steering control means to do so, and a thrust system progress to deactivate the thrust system at the time of the above-mentioned oblique F descent due to scuttling, and operate the thrust system at the time of the above control - 1, = 271, in full possession. Thrust control means to
A scuttling underwater vehicle, characterized in that it is installed in the above control device.