KR101750505B1 - The control for steering apparatus and method for underwater vehicle using opening and/or closing motion - Google Patents

Abstract

The present invention relates to a direction control device for controlling an underwater vehicle, comprising: an opening / closing part located on a surface of the underwater vehicle for controlling inflow and outflow of fluid; a sensing part sensing traveling information related to the running of the underwater vehicle; And a processor for generating an opening / closing control signal for controlling the opening / closing unit in consideration of the sensed driving information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control device and a control method for controlling the direction of an underwater vehicle using an opening /

The present invention relates to a direction control device for controlling the direction of an underwater vehicle and a method therefor.

Torpedoes and other underwater motions will change their position in the water due to ocean currents and waves. Therefore, it is necessary to control the attitude of the moving body in order for the underwater vehicle to proceed to the target point correctly.

Generally, the conventional high speed running underwater vehicle controls the direction by the movable rudder located at the stern part. In order to improve the maneuverability, it is necessary to mount the movable rudder on not only the stern part but also the foreside and the central parallel part, but it is often impossible to mount due to various restrictions including the size of the launcher.

Korean Registered Patent No. 10-1144014 (registered)

The present invention has been conceived to solve the problems described above, and it is an object of the present invention to provide an apparatus and a method for controlling a direction of a submersible vehicle using a rotation moment generated by opening and closing operations of an opening / So as to improve the direction control capability.

According to one aspect of the present invention, there is provided a direction control device for controlling a direction of an underwater vehicle, the direction control device comprising: an opening / closing part that is located on a surface of the underwater vehicle, A sensing unit for sensing driving information related to the running of the underwater vehicle, and a processor for generating an opening / closing control signal for controlling the opening / closing unit in consideration of the sensed driving information.

Further, the apparatus may further include a flow pipe for providing a space through which the fluid flows after the fluid is introduced, and a rotation moment may be generated due to a pressure difference of the underwater vehicle according to a fluid flowing in and out from the opening and closing part.

In the present invention, the traveling direction of the underwater vehicle can be controlled by the generated rotation moment.

The sensing unit may further include a pressure sensor for sensing a pressure of fluid applied to a surface of the underwater vehicle.

Here, the sensing unit may further include a speed sensor for sensing the speed of the underwater vehicle and a direction sensor for sensing the direction of the underwater vehicle.

In the present invention, the opening / closing unit may perform an opening / closing motion for adjusting a flow rate through inflow and outflow of fluid according to a control signal generated from the processor.

In the present invention, it is preferable that a movable rudder which is located at the stern portion of the underwater vehicle and controls the direction of the underwater vehicle, a flow pipe through which the fluid flows in accordance with the inflow of the fluid, And a duct disposed at one end of the flow pipe to prevent a tip vortex generated from the fluid and the gas existing in the flow pipe.

The control signal may be an electrical signal, and may include a control unit for receiving the control signal generated from the processor and controlling the opening / closing unit.

According to another aspect of the present invention, there is provided a direction control method for controlling a direction of an underwater vehicle, the method comprising: performing an opening / closing motion for controlling inflow and outflow of a fluid from a surface of the underwater vehicle; Sensing the driving information related to the running of the underwater vehicle, and generating the opening / closing motion control signal in consideration of the sensed driving information.

Here, a rotation moment may be generated due to the pressure difference of the underwater vehicle depending on the fluid to be inflowed and intercepted.

In the present invention, the running direction of the underwater vehicle can be controlled by the generated moment.

In the present invention, the running information may include a pressure of fluid applied to the surface of the underwater vehicle, a running speed of the underwater vehicle, and a running direction of the underwater vehicle.

Here, the step of generating the opening / closing motion control signal in consideration of the sensed driving information may include generating at least one of the sensed fluid pressure, the driving velocity, and the driving direction, And < / RTI >

Here, it is possible to perform an opening / closing motion for controlling the flow rate through inflow and outflow of the fluid according to the generated opening / closing motion control signal.

According to another aspect of the present invention, there is provided a computer-readable recording medium on which a direction control method is performed by a computer.

The present invention can achieve the following effects by means of the schemes devised for achieving the above object.

First, since the direction of rotation can be changed by the rotation moment generated in the forward portion of the underwater vehicle due to the operation of the opening / closing part, the turning radius can be drastically reduced.

Second, in combination with the movable rudder located at the stern portion, the direction can be switched by parallel movement instead of turning by turning during driving, thereby greatly improving maneuverability.

1 is a view showing a configuration of a direction control device using an opening / closing motion according to an embodiment of the present invention.
Fig. 2 is a view showing a direction control device for explaining Fig. 1 in more detail.
FIG. 3 is a view illustrating an example in which the opening and closing part according to an embodiment of the present invention is opened and a large amount of fluid is introduced.
4 is a view showing an example in which the opening and closing part is partly opened and a small amount of fluid is introduced.
5 is a view showing a rotation moment generated on the outer surface of an underwater vehicle due to a pressure difference according to an embodiment of the present invention.
6 is a view illustrating an underwater vehicle according to an embodiment of the present invention.
7 is a flowchart illustrating a method of controlling a direction of a submersible vehicle using a direction controller according to an embodiment of the present invention.

The present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and accompanying drawings, but the present invention is not limited to or limited by the embodiments.

The term used in the specification of the present invention selects the general term that is widely used in the present invention while considering the function of the present invention, but it may be changed depending on the intention or custom of the technician engaged in the field or appearance of new technology . Also, in certain cases, there may be a term chosen arbitrarily by the applicant, in which case the meaning thereof will be described in the description of the corresponding invention. Therefore, it is intended that the terminology used herein should be interpreted based on the meaning of the term rather than on the name of the term, and on the entire contents of the specification. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment.

Further, although the reference numerals and the like of the drawings are denoted by the same reference numerals and signs as possible, even if they are shown in different drawings, the same reference numerals and signs are used. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to facilitate a person skilled in the art to which the present invention pertains.

Hereinafter, a direction controller for controlling the direction of the underwater vehicle moving in water and a method for controlling the direction of the underwater vehicle using the direction controller will be described in detail. For example, an underwater vehicle is a kind of a submersible that can be submerged in water including a torpedo and a deck, which is one of guided weapons that move in water underwater and attack enemy ships or submarines.

For example, the direction control device 10 according to the present invention is mounted on the forefront portion of the underwater vehicle 1, and controls the travel related to the direction of the underwater vehicle 1. Hereinafter, it is assumed that the vehicle is an underwater vehicle 1 provided with one direction control device 10, but the present invention is not limited to the following embodiments, and may be selected so that a plurality of direction control devices are provided inside the underwater vehicle by the user .

Fig. 1 is a view showing a configuration of a direction control device using an opening / closing motion according to an embodiment of the present invention. Fig. 2 is a view showing a direction control device for explaining Fig. 1 in more detail, And the opening / closing part 400 is shut off.

1, the direction controller 10 includes a sensing unit 100, a processor 200, a control unit 300, an opening / closing unit 400, and a movable rudder 500. More specifically, the sensing unit 100 may further include a pressure sensor 110, a velocity sensor 120, and a direction sensor 130. In the present invention, the sensing unit (100) senses driving information related to the running of the underwater vehicle (1). Here, the travel information means the travel information including the pressure due to the hydraulic force acting on the outer surface of the underwater vehicle 1 and the traveling direction and speed of the underwater vehicle 1.

Referring to FIG. 2, the pressure sensor 110 senses the pressure of fluid applied to the surface of the underwater vehicle 1 in order to sense the travel information. At this time, the pressure sensor 110 is mounted on the inner surface of the underwater vehicle 1, and senses the pressure of the fluid applied to the surface of the underwater vehicle.

The speed sensor 120 senses the speed of the underwater vehicle. For example, the speed sensor 120 may be mounted on the forefront of an underwater vehicle to sense a speed roll of the underwater vehicle running underwater, and the speed sensor 120 may include, for example, an accelerometer Sensor).

The direction sensor 130 senses the running direction and the position of the underwater vehicle, and can sense the posture of the underwater vehicle. Here, the direction sensor 130 is provided with a gyroscope, and it is preferable that the orientation sensor 130 senses the state and change of the posture of the underwater vehicle as it rotates around the central axis of the underwater vehicle. For example, the direction sensor 130 may sense the movement of the underwater vehicle about its center axis. The processor 200 may obtain the direction information based on the attitude of the underwater vehicle sensed by the direction sensor 130. [ Here, the direction information acquired by the processor 200 may include information about the angular velocity, angular velocity, or displacement due to rotation of the underwater vehicle about the central axis of the underwater vehicle. Accordingly, the processor 200 can calculate the direction control information for controlling the direction of the underwater vehicle 1 using the direction information. Here, the processor 200 not only receives the driving information from the sensing unit 100, but also receives information on the direction of the underwater vehicle 1 from the driving wheel 500. The direction control information calculated by the processor 200 includes information about the first target angular velocity or angular velocity to be rotated by the movable table 500 and information about the first target angular velocity or angular velocity to be rotated by the opening / 2 target angular velocity or angular acceleration.

The processor 200 generates an opening / closing control signal for controlling the opening / closing unit 400 in consideration of the traveling information sensed by the sensing unit 100.

According to an embodiment of the present invention, the processor 200 checks whether the direction of the underwater vehicle 1 is controlled by taking into account the position and running direction of the underwater vehicle sensed by the direction sensor 130 and the tether 500 And generates an opening and closing control signal in consideration of the running speed of the underwater vehicle 1 sensed by the speed sensor 120 and the pressure of the underwater vehicle sensed by the pressure sensor 110. [ The processor 200 according to another embodiment of the present invention may further include a controller 400 located in the aft portion of the underwater vehicle 1 to further consider the direction information of the underwater vehicle transmitted from the tether 500 for controlling the direction of the underwater vehicle , An opening / closing control signal can be generated. Here, the generated control signal may be generated as an electrical signal.

The control unit 300 according to the present invention receives the control signal generated from the processor 200 and controls the opening / closing unit 400. At this time, the control unit 300 drives the conveyance link 600 involved in the operation of the opening and closing unit 400 to control the opening and closing operations by the opening and closing unit 400. The conveyance link 600 is connected to the opening and closing part 400 and controls the operation range of the opening and closing part by using a pushing and pulling action of the opening and closing part. In the present invention, the operating principle of the opening and closing part 400 is not limited to the above, but may be implemented and selected from various devices and may be an automatic and manual opening and closing part. The control unit 400 controls not only the opening and closing movement of the opening and closing unit 400 but also the opening and closing of the opening and closing unit 400 according to the control signal generated from the processor 200, Lt; RTI ID = 0.0 > 500, < / RTI >

The opening and closing part 400 is located on the surface of the underwater vehicle 1 and controls the inflow and outflow of the fluid. 2, the direction control device 10 is installed on the inner surface of the underwater vehicle 1 and includes a flow pipe 700 between the moving bodies 900 so as to allow fluid to flow inside the direction control device 10, . Also, as shown in FIG. 2, one end of the body 900 of the direction control device and one end of the opening / closing part 400 may be configured to be engaged with each other.

FIG. 3 is a view showing an example in which the opening / closing part according to the embodiment of the present invention is opened and a large amount of fluid is introduced. FIG. 4 is a view illustrating an example in which the opening / closing part is partially opened, And FIG. 5 is a view showing a rotation moment generated on the outer surface of the underwater vehicle due to a pressure difference according to an embodiment of the present invention.

Referring to FIG. 3, while the opening / closing part 400 is opened, the external fluid flows into the directional control device 10 and flows into the provided flow pipe 700. The fluid introduced into the flow pipe 700 from the opening and closing part 400 installed at one side of the direction control device 10 flows through the outlet of the flow pipe 700 installed on the other side of the direction control device 10, Fluid can be exported.

4, the processor 200 receives the driving information from the sensing unit 100 and the driving wheel 500, and controls the processor 200 in accordance with the determination for direction and attitude change related to the running of the underwater vehicle 1 200 determines the open range of the opening and closing unit 400, generates a control signal for commanding the determined range, and applies the generated control signal to the control unit 300. [ The control unit 300 controls the open range of the opening / closing unit by controlling the transfer link 600 according to the received control signal.

For example, if the direction and attitude change range of the underwater vehicle 10 determined by the processor 200 is large, the open range of the opening and closing part 400 also becomes large at the same time and the flow rate will flow in a large amount. The opening range of the opening and closing part is also controlled so that the fluid flows in a small amount while the opening part is partially opened and the opening and closing part cuts off the fluid in a state where it is not required to change the direction and attitude of the underwater vehicle according to the judgment result of the processor.

FIG. 5 is a view showing rotation moments generated according to a fluid flowing into a direction control device according to an embodiment of the present invention. 5A shows a state in which the opening / closing part 400 of the direction control device is shut off, and FIG. 5B shows a state in which the opening / closing part 400 is opened.

Referring to FIG. 5A, by opening and closing the opening / closing part 400, no pressure change occurs on the surface of the underwater vehicle. 5 (b), the directional control device 10 is installed in a part of the underwater vehicle 1 so as to open the opening / closing part 400 to change the pressure with the inflow of the fluid, A rotation moment is generated due to a pressure deviation in a place where a pressure change occurs and a place where a pressure change does not occur among various points on the surface of the underwater vehicle. The direction and attitude of the underwater vehicle 1 are switched using the rotational moment caused by the pressure deviation. For example, when the underwater vehicle 1 advances, the flow of the incoming fluid occurs at multiple points of the underwater vehicle 1. [ At this time, when it is assumed that there are no other unpredictable variables, according to the opening of the opening and closing part 400 of the direction control device installed above the direction control device 10 installed above and below the underwater vehicle 1, The pressure above the moving body 1 and the pressure below the moving body 1 are different from each other. Since the upward pressure is lowered relative to the downward pressure due to the opening of the opening / closing part 400 installed on the upper side, a downward pressing force acts from below. That is, a lifting force is generated at one point of the underwater vehicle 1. With this principle, the direction of the underwater vehicle 1 can be controlled using the opening / closing operation of the opening / closing part 400.

 At this time, the direction control device 10 can be implemented by installing one or more of the directional control devices 10 on the underwater vehicle 1 at the user's choice, and can be implemented by installing two or more directional control devices 10 .

Referring to FIG. 2 again, a duct 800 according to an embodiment of the present invention is disposed at one end of a flow pipe 700 through which fluid is discharged, It can be provided to prevent the vortex phenomenon.

6 is a view showing an underwater vehicle 1 according to an embodiment of the present invention. Referring to FIG. 6, at least one of the plurality of direction control devices is selected and positioned at the forward portion of the underwater vehicle 1 in the direction control device 10. The processor 200 and the control unit 300 may be located at the forward portion of the underwater vehicle 1 and the control unit 300 may be located at a position where the opening and closing unit 400 is located, And the movable rattler 500 can be provided and operated at various positions of the underwater vehicle 1. [ For example, as shown in Fig. 6, the movable rattling tumbler 500 is provided on the stern of the underwater mover and can control the direction of the underwater mover.

7 is a flowchart illustrating a method of controlling a direction of a submersible vehicle using a direction controller according to an embodiment of the present invention.

First, the processor 200 of the direction control device 10 calculates the direction and speed of the underwater vehicle 1 sensed by the sensing unit 100 and the pressure applied to the underwater vehicle 1, And collect driving information related to driving (S100). Here, the processor 200 not only receives the driving information from the sensing unit 100, but also receives information on the direction of the underwater vehicle 1 from the driving wheel 500.

Using the collected driving information, the processor 200 determines whether or not the running control of the underwater vehicle 1 is controlled (S200). If the driving control of the underwater vehicle 1 is not required according to whether or not the driving control is determined by the processor 200, the process returns to the step of collecting the driving information sensed by the sensing unit 100 again. If traveling control is required, the processor 200 generates an opening / closing control signal for controlling the opening / closing part (S300). The operation range of the opening operation of the opening and closing unit 400 is determined according to the direction control result of the underwater vehicle 1 determined by the processor 200 and the operation range of the opening and closing unit 400 is set to the control unit 300 . The control unit 300 receives the control signal and transmits a control command to the opening / closing unit 400. Accordingly, the opening / closing unit 400 receives the control signal and performs opening according to the set operating range (S400).

According to the operation of the opening / closing unit 400, the processor 200 checks whether the direction of the underwater vehicle 1 is switched to the target direction or whether the direction re-setting is necessary (S500). When directional resetting is requested according to the determination of the processor 200, the flow returns to step S100 to collect the travel information.

If the direction control of the underwater vehicle 1 is completed in accordance with the target direction, the opening and closing of the opening and closing part 400 is stopped and the opening and closing part is blocked to prevent the inflow of the fluid (S600).

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100:
110: Pressure sensor
120: Speed sensor
130: Direction sensor
200: Processor
300:
400:
500: Operation riding

Claims (15)

A direction control device for controlling a direction of an underwater vehicle,
A movable tether positioned at the stern of the underwater vehicle for controlling the direction of the underwater vehicle;
An opening / closing unit located on the surface of the underwater vehicle for controlling inflow and outflow of the fluid;
A flow pipe through which the fluid flows as the fluid flows;
A duct disposed at one end of the flow pipe to prevent a tip vortex due to a flow of fluid on an outer surface of the underwater vehicle;
A sensing unit for sensing travel information including the attitude, speed and direction of the underwater vehicle; And
A controller for determining whether the direction of the underwater vehicle is controlled by using the traveling information sensed by the sensing unit and further controlling the speed of the underwater vehicle sensed by the sensing unit in accordance with the direction control, And a processor for generating an opening / closing control signal,
Wherein the processor is configured to calculate the first target angular velocity or angular velocity to rotate through the movable rudder using the attitude information of the underwater vehicle sensed by the sensing unit to control the direction of the underwater vehicle, And obtains information about a second target angular velocity or angular acceleration to be rotated in accordance with the target angular velocity or the angular acceleration. The method according to claim 1,
And a flow pipe for providing a space through which the fluid flows after the fluid is introduced,
Wherein the flow pipe generates a rotation moment by a pressure difference of the underwater vehicle according to a fluid flowing in and out from the opening and closing part. 3. The method of claim 2,
And controlling the running direction of the underwater vehicle by the generated moment of rotation. The apparatus of claim 1, wherein the sensing unit
And a pressure sensor for sensing a pressure of the fluid applied to the surface of the underwater vehicle. delete The apparatus of claim 1, wherein the opening /
Wherein the controller performs an opening / closing motion for controlling a flow rate through inflow and outflow of fluid according to a control signal generated from the processor. delete The method according to claim 1,
The control signal is an electrical signal,
And a control unit for receiving the control signal generated from the processor and controlling the opening / closing unit. A direction control method for controlling a direction of an underwater vehicle using a direction control device for controlling a direction of an underwater vehicle,
The direction control device includes an opening / closing unit that is located on the surface of the underwater vehicle and controls the inflow and outflow of the fluid, a flow pipe through which the fluid flows in accordance with the inflow of the fluid, And a duct for preventing a tip vortex due to the flow of fluid at the surface,
Performing an opening / closing motion for controlling the inflow and outflow of fluid at the surface of the underwater vehicle;
Sensing traveling information including the attitude, speed and direction of the underwater vehicle; And
The control unit determines whether the direction of the underwater vehicle is controlled by using the detected travel information of the underwater vehicle, and further generates the open / close control signal by considering the speed of the underwater vehicle in response to the direction control ≪ / RTI >
The step of generating the opening / closing motion control signal may further include the steps of: using the attitude information of the underwater vehicle sensed to control the direction of the underwater vehicle, to obtain information about a first target angular velocity or angular velocity And acquiring information on a second target angular velocity or angular acceleration to rotate according to the first target angular velocity or the angular acceleration. 10. The method of claim 9,
Wherein a rotation moment is generated by a pressure difference of the underwater vehicle according to a fluid to be inflowed and intercepted. 11. The method of claim 10,
Wherein the direction of travel of the underwater vehicle is controlled by the generated moment of rotation. 11. The method according to claim 9,
And a pressure of the fluid applied to the surface of the underwater vehicle. delete 10. The method of claim 9,
Wherein the opening / closing movement is performed by controlling the flow rate of the fluid through the inflow / outflow of the fluid according to the generated opening / closing motion control signal. A computer program stored in a computer-readable recording medium for executing a direction control method using the opening and closing motion according to any one of claims 9 to 12 and 14.

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