RU2736794C1 - Method of determining stability factor of unmanned underwater vehicle by experimental means - Google Patents

Abstract

FIELD: underwater vehicles.

SUBSTANCE: invention relates to underwater equipment engineering, namely to methods of measuring stability coefficient of small unmanned underwater vehicles (UUV), which do not have active means for submersion into submerged position without travel. Prior to submarine immersing into submerged position, its on-board measuring equipment is switched on, then, to ensure UUV submersion into submerged position at fixed depth without travel floating buoy is used, to buoy turn of feeding end of UUV is movably connected at preset distance from float. Thereafter, the UUV is immersed into a submerged position at a fixed depth owing to the weight of the load of the floating buoy, held in a submerged position at a fixed depth, to stabilize the UUV position in the submerged position, owing to buoyancy of the float of the floating buoy. Then trim angle is measured Ψ₁. Thereafter, UUV is tilted by differentiation by outside action of body in fore end with weight of sinker creating inclining force and retaining UUV in this position to stabilize UUV in submerged position, and trim angle is measured. From values of trim angles Ψ₁ and Ψ₂ value of stability factor is calculated.

EFFECT: achieving the value of the UUV stability coefficient.

4 cl, 2 dwg

Description

The invention relates to the field of underwater equipment, namely, to methods for measuring the value of the stability coefficient of small-sized unmanned underwater vehicles weighing from 100 kgf to 6000 kgf, which do not include active means for diving into a submerged position without a stroke.

It is well known that after the construction of an UUV it is obligatory to first of all carry out its signboard to determine the load, and then an experimental test of the fulfillment of the stability conditions of UUV, calculated in the process of its design.

Known small-sized AUV modular design, (RF patent No. 161175, IPC B63G 8/00, published on April 10, 2016, bul. 10), which has the means to ensure ballasting and static balancing of the apparatus. These means are made in the form of a set of weights placed in the ballasting module. The use of a ballasting module as part of the AUV ensures its ballasting and static balancing, allowing the vehicle to be suspended at any initial value of residual buoyancy and arbitrary distribution of masses along the AUV hull. Ballasting is carried out by installing a set of weights inside the ballasting module. Static balancing of the vehicle is carried out by using several ballasting modules distributed along the AUV body. By moving the set of weights inside the ballasting modules, the metacentric height is adjusted in a wide range, and static roll is eliminated. AUV ballasting is performed as follows. The device in transport containers is delivered by any vehicle to the place of underwater work. In accordance with the forthcoming work on the exploration of the sea depths, the operator removes the required modules from the containers. With the use of a slipway and special technological equipment, the AUV is assembled and equipped, while the procedure for preliminary ballasting of the apparatus is carried out by placing a set of weights in the ballasting module. The operator tests the operability of all AUV systems by running test programs. The AUV is delivered to the water's edge and launched directly from the shore or from the carrier vessel. The AUV is immersed in water for the purpose of its final signage, ballasting and static balancing.

The disadvantages of the known method of ballasting are:

- to equip the AUV with ballasting modules, the apparatus is disassembled with subsequent assembly on the slipway and using special technological equipment;

- the ability to carry out only the AUV signboard, i.e. to correct its load in order to bring the AUV to a state that satisfies the condition of the AUV balance in the submerged position without roll and trim;

- impossibility to determine the value of the coefficient of the stability moment of the AUV after its construction.

при равенстве кренящего момента

и восстанавливающего момента

по измеренному углу крена вычисляют значение (величину) коэффициента остойчивости.There is also known a method for determining the stability of a submarine experimentally (NP Muru "Statics of a submarine", Edition of VVMIOLU named after FE Dzerzhinsky Leningrad, 1971, C 24-27, C 130-132), called inclining. The known method consists in the fact that the passed signboard after the construction of the submarine is immersed to a fixed depth by filling the main ballast tanks (CHB), held at a fixed depth due to the filled CHB and the operation of the equalizing system, in the submerged state the boat is tilted along a roll by horizontal-transverse transferring solid ballast inside the boat, measure and record the roll angle

with equal heeling moment

and restoring moment

the measured roll angle is used to calculate the value (magnitude) of the stability coefficient.

The known method for determining the stability of a submarine empirically cannot be applied to UUVs in view of the fact that:

- as part of the NPA there are no special devices for its immersion and holding at a fixed depth without a stroke - such as: CHB, equalizing system;

- the design features and dimensions of the UUV do not provide the possibility of tilting in a submerged position by means of horizontal-transverse transfer of cargo (solid ballast) inside the vehicle.

The objective of the invention is to develop a method for determining the value of the stability coefficient of an UUV after its construction experimentally in a submerged position using simple means, widely known in sea practice, without resorting to the development and manufacture of special means and devices for UUV.

To solve the problem in the method of determining the value of the stability coefficient of an UUV experimentally, after being built and having passed the sign, the UUV is immersed in a submerged position at a fixed depth without a stroke and holding it at a fixed depth without a stroke, the UUV is tilted in a submerged position under the influence of a tilting force, measured the angle of inclination of the UAV under the influence of the bending force and calculate the value of the stability coefficient, before the UAV is immersed in the underwater position, turn on its on-board measuring equipment, to ensure the submersion of the UAV into the underwater position at a fixed depth without a stroke, a floating buoy is used in the form of a float and a load, functionally interconnected with a buoype, to which at a given distance from the float, the aft end of the UUV is movably connected, then the UUV is immersed in an underwater position at a fixed depth due to the weight of the floating buoy's cargo, and it is held submerged at a fixed depth to stabilize the UUV in the submerged position, due to the buoyancy of the float of the floating buoy, and measure the value of the trim angle Ψ ₁ , and then tilt the UUV by trim by acting outside the hull in the bow end with the weight of the sinker, which creates a tilting force that holds the UUV in this position to stabilize the UUV in the underwater position measure the value of the angle of trim Ψ ₂ and the values of the angles of trim and calculate the value of the stability coefficient by the formula:

где

Where

Р ₂ - weight of the sinker

L is the length of the apparatus.

The task is also achieved by the fact that a halyard with a diameter of 8-10 mm and a length of 10-16 m with a metal ring attached to it is used as a buoy-line in a floating buoy with a metal ring fixed on it to connect the UUV to the buoy-buoy at a given distance from its float.

In addition, the task is also solved by the fact that for measuring and recording the values of the trim angles Ψ ₁ and Ψ _{2, the} UAVs are held submerged at a fixed depth to stabilize the UAV in the submerged position for 15-20 minutes.

In the claimed method for determining the stability coefficient of an NLA experimentally after construction and passed the sign, the general essential features for it and the prototype are as follows:

- submersion of the UUV into a submerged position at a fixed depth without a stroke and keeping it at a fixed depth without a stroke;

- inclination of the submerged aircraft under the influence of the tilting force;

- measurement of the angle of inclination of the UFO under the influence of the bending force;

- calculation of the stability coefficient value.

A comparative analysis of the essential features of the claimed method for determining the stability coefficient of an UUV experimentally after construction and passed the sign and its prototype shows that the first, in contrast to the prototype, has the following distinctive features:

- before submerging the UUV into the underwater position, turn on its on-board measuring equipment,

- to ensure the submersion of the submarine into a submerged position at a fixed depth without a stroke, a floating buoy is used in the form of a float and a load, functionally interconnected by a buoype, to which at a given distance from the float, the aft end of the sub is movably connected,

- then submerge the submarine into a submerged position at a fixed depth due to the weight of the floating buoy's cargo, hold it submerged at a fixed depth, to stabilize the submerged aircraft in a submerged position, due to the buoyancy of the float of the floating buoy,

- measure the value of the trim angle 4 ^J ₁ without the influence of the inclining force,

- tilt the UAV by trimming by impacting the weight of a sinker outside the hull in the bow end, creating a tilting force that holds the UAV in this position to stabilize the UAV in the submerged position and measure the value of the trim angle Ψ ₂

- the values of the angles of trims Ψ ₁ and Ψ ₂ calculate the value of the stability coefficient by the formula:

где

Where

Р ₂ - weight of the sinker

L is the length of the apparatus.

This set of common and distinctive essential features provides a technical result in all cases for which legal protection is requested. It is precisely this combination of essential features of the proposed method for determining the stability coefficient of an ULA experimentally after construction and passing a sign that made it possible to solve the problem of determining the value of the stability coefficient of an UUV using simple, widely used means in marine practice - sinkers and a float, without resorting to the development and manufacture of special devices and devices for ABO.

Based on the foregoing, we can conclude that the totality of essential features of the claimed invention has a causal relationship with the achieved technical result, i.e. thanks to this set of essential features of the invention, it became possible to solve the problem. Therefore, the claimed invention is new, has an inventive step, i.e. it does not follow explicitly from known technical solutions and is suitable for use.

The invention is illustrated by drawings, where: Fig. 1 shows an UUV in a submerged position without the influence of a tilting force, FIG. 2 - shows a submerged vehicle under the influence of a tilting force.

The following designations are adopted in the drawings:

1 - NPA

2 - eye of aft NPA

3 - eye nose NPA

4 - buirep

5 - water surface

P is the weight of the legal entity

D - buoyancy of NPA

L - length of NPA

Pi - weight of the cargo of the floating buoy for submersion of the UUV

B - float of a floating buoy to keep the UV on a fixed

depth

Р ₂ - weight of the sinker to create a tilting force for tilting the NPA by trim

X _m , X _v - longitudinal coordinates of CG and CV of NLA

Z _m , Z _v - transverse, vertical coordinates of the CG and CV of the NLA.

The method for determining the stability coefficient of an ULA experimentally after construction and passed the sign is implemented as follows.

The support vessel is delivered to the water area, closed from waves and currents, with a depth of 20-25 m with calm or no wind, as well as, if necessary, into the open sea with calm or no wind. To ensure measurements, an inflatable motor boat is used, in which the prepared in advance is placed: load P ₁ for immersion of the UUV to a fixed depth, float B to hold the UUV at a fixed depth, buoyp 4 connecting the load P ₁ and float B, weight P ₂ for tilting the UUV by trim, a towing (safety) cable (not shown in the drawing), the root end of which is fixed in the boat. Buirep 4 is a thin soft halyard with a diameter of 8-10 mm, a length of 10-16 m, with a metal ring fixed on it for connecting an UFO. The towing rope is a floating polystyrene halyard with a diameter of 10-12 mm, a length of 80-100 m. Then, the preparation of the RV is carried out. First of all, they check the operability of the UAV as a whole and record the program-tasks (missions) for the dive into the program control system (SPU) of the NPA. The mission should provide for the inclusion in the operation of the measuring equipment for the entire period of time after the launch of the UUV to the water until it is lifted on board the vessel, the shutdown of the propulsion and steering complex during the immersion to a fixed depth without a stroke, holding the UUV without a stroke at a fixed depth, to stabilize UUV in a submerged position, until the measurement of the trim angles and its rise to the water surface is completed. Then the mission is simulated. The running end of the towing cable is connected to the bow end of the NPA. After the completion of the mission simulation with a positive result, the boats are launched from the vessel into the water, then the UUV. The boat is towed to a pre-designated dive point, which must be chosen so that while the UUV is at a fixed depth, the vessel does not heap in the direction of the dive point. Work at the dive point.

A floating buoy is positioned and, with the help of the P ₁ weight, the UUV is immersed to a fixed depth. In this case, the apparatus will take the position shown in FIG. 1. To stabilize the submarine in the submerged position, an exposure is made for 15-20 minutes, the value of the trim angle Ψ _{1 is} measured and recorded without the influence of the inclining force. Then, by the towing cable, the NPA is lifted to the surface of the water and by the bow eye 3, outside the body 1 of the NPA, the weight P _{2 is} hung. The UUV is again lowered into a submerged position and the vehicle will take the position shown in FIG. 2. To stabilize the position of the UVA in the submerged position, an exposure is made for 15-20 minutes, then the value of the trim angle Ψ _{2 is} measured and recorded when the inclining force is applied. Then, using the towing cable, the apparatus is lifted to the surface of the water 5, the load P ₁ , the sinker Р ₂ , the float B and the buoyard 4 are removed and placed in the boat, the running end of the towing cable is transferred to the stern end of the boat. The RV is towed to the ship, first the RV is lifted on board, then the boat. Read from the SPU NPA data on the measured values of the trim angles, ₁ , Ψ ₂ , by which the value of the stability coefficient is calculated by the formula:

The use of the claimed method made it possible to determine the values of the stability coefficient of an UUV using simple, widely used means in marine practice - a sinker and a float, functionally interconnected by a buoype, without resorting to the development and manufacture of special devices and devices for UUV.

The stability coefficient characterizes the intensity of the growth of the restoring moments and is a measure of the initial stability of the vehicle. The value of the stability coefficient obtained by the described method is used in practice in the programmed control system of the dynamics of the underwater vehicle.

This method of determining the value of the stability coefficient of an unmanned underwater vehicle empirically can be used to determine the value of the stability coefficient of an UUV, in the design of which significant changes have been made.

Claims (8)

1. A method for determining the value of the stability coefficient of an unmanned underwater vehicle (UUV) empirically, after construction and passed the sign, including submerging the UUV into a submerged position at a fixed depth without a stroke and keeping it at a fixed depth without a stroke, inclination of the UUV in a submerged position under the influence of an external forces, measurement of the angle of inclination of the UUV under the influence of an external force and the calculation of the value of the stability coefficient, characterized in that before the UUV is immersed in the underwater position, its onboard measuring equipment is turned on, to ensure the submersion of the UUV into a submerged position at a fixed depth without a stroke, a floating buoy in the form of a float is used and cargo, functionally interconnected by a buoype, to which, at a given distance from the float, the aft end of the UUV is movably connected, then the UUV is immersed in a submerged position at a fixed depth due to the weight of the floating buoy's cargo, and is held submerged on a fixed depth due to the buoyancy of the float of a floating buoy and measure the value of the trim angle Ψ ₁ , and then tilt the UUV along the trim by acting outside the hull in the bow end with the weight of a sinker, which creates a tilting external force that holds the UUV in this position, and measure the values of the trim angles Ψ ₁ and Ψ ₂ and the values of the angles of trims Ψ ₁ and Ψ ₂ calculate the value of the stability coefficient by the formula: K = P ₂ (L / (tanΨ ₁ + tanΨ ₂ )), Where Р ₂ - weight of the sinker; L is the length of the apparatus. 2. The method according to claim 1, characterized in that a polyvinyl halyard with a diameter of 8-10 mm and a length of 10-16 m with a metal ring fixed to it for connecting the UUV to the buoy buoy at a given distance from it is used as the buoy-line in the floating buoy. float. 3. The method according to claim 1, characterized in that for measuring and recording the value of the trim angle Ψ _{1, the} aircraft are kept submerged at a fixed depth to stabilize the aircraft for 15-20 minutes. 4. The method according to claim 1, characterized in that for measuring and recording the value of the angle of trim Ψ _{2, the} AUV is held submerged at a fixed depth to stabilize the AUV for 15-20 minutes.

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