RU2757516C1 - Method for yaw control of trailing underwater object - Google Patents

Abstract

FIELD: underwater shipbuilding.

SUBSTANCE: invention relates to the field of underwater shipbuilding and concerns yaw regulation of underwater devices. The method for yaw control of trailing underwater object is proposed. It consists in the fact that due to location of flexible coupling attachment unit in the upper part of underwater object on the same vertical with the center of negative buoyancy, a moment of hydrodynamic force is created, the position of underwater object during trailing is leveled by lifting force arising from the flow around rotating shaft, oriented normal to fluid flow, which is directed opposite the yaw moment direction, at the same time, to align trailing underwater object position, a rotating shaft is installed in its bow, the position of underwater object is aligned with a rotating shaft installed vertically in the bow with possibility of changing cyclic frequency and direction of shaft rotation, the cyclic frequency of shaft rotation is changed depending on movement speed of the underwater object, direction of shaft rotation is changed depending on which direction the lifting force should be directed.

EFFECT: invention increases track stability of trailing underwater object, reduces resistance to movement of the underwater object, increases maneuverability of the underwater object.

1 cl, 2 dwg

Description

The invention relates to the field of underwater shipbuilding, and more precisely to methods and systems for controlling the yaw of underwater devices, and can be used to control the yaw of towed underwater objects.

Known technical solution "Towed underwater device with horizontal stabilization" (patent RU No. 2148003, В63В 21/66, publ. 04/27/2000, bull. No. 12). A towed underwater device with horizontal stabilization, contains an underwater equipment carrier, equipped with a nose cone and a tail stabilizer and fixed on a towing cable-cable, unloading floats are installed in the bow and aft parts of the underwater vehicle, and burdening weights are placed on the cable-cable, which compensate for the buoyancy forces of the floats ...

The disadvantages of this stabilization method include a small range of towing speeds, low maneuverability of the underwater towed system itself, due to the fact that the digger and the underwater object are interconnected.

The closest in technical essence is the "Method for controlling the trim of a towed underwater object" (patent RU No. 2657701 C1, published on 14.06.2018). The method for controlling the trim of a towed underwater object consists in the location of the flexible connection attachment point in the upper part of the underwater object, in leveling the position by hydrodynamic forces by compensating for the change in the pitching moment when the towing speed changes, while aligning the position of the underwater object in the bow of the towed underwater object horizontally shaft with the ability to change the angular speed of rotation depending on the towing speed, while in the submerged state, the changes in the pitching moment are compensated for when the towing speed changes with the help of hydrodynamic forces arising from the flow around the rotating shaft and directed perpendicular to the fluid flow, which are directed in the opposite direction the direction of the pitch-up moment, and the angular speed of the shaft rotation is changed in accordance with the change in the towing speed.

The disadvantages of this technical solution include the limited maneuverability of the underwater towed object due to the rotation of the shaft located horizontally in the bow, only clockwise, which causes the appearance of a unidirectional lift.

The technical problem to be solved is the creation of a highly effective method of controlling the yaw of a towed underwater object, which makes it possible to increase the track stability in a wide range of towing speeds, as well as to increase the maneuverability of the towed underwater object.

The technical result of the invention is to increase the track stability of the towed underwater object in a wide range of towing speeds, as well as to reduce the resistance to the movement of the underwater object from the side of the fluid flowing around it, and to increase the maneuverability of the underwater object.

The technical result is achieved by the fact that due to the location of the flexible connection attachment point in the upper part of the underwater object on the same vertical line with the center of negative buoyancy, a moment of hydrodynamic force is created, the position of the underwater object during towing is leveled by the lifting force arising from the flow around the rotating shaft, oriented along the normal to the fluid flow , which is directed in the direction opposite to the direction of the yaw moment, while in order to align the position of the towed underwater object, a rotating shaft is installed in its bow, the position of the underwater object is aligned with a rotating shaft installed vertically in the bow, with the ability to change the cyclic frequency and direction of rotation of the shaft, cyclic the rotation frequency of the shaft is changed depending on the speed of movement of the underwater object, the direction of rotation of the shaft is changed depending on which direction it is necessary to direct the lifting force. This increases the yaw control in a wide range of towing speeds, creates a highly efficient way to control the yaw of a towed underwater object, also increasing its maneuverability.

To clarify the technical essence, the following drawings are attached to the description:

- fig. 1. Drawing of an underwater object with an indication of the diagram of forces and moments;

для приведенного в примере буксируемого подводного объекта.- fig. 2. Dependency graph

for the example towed underwater object.

The proposed technical solution is based on solving the problem of yaw control with the possibility of using a well-known physical phenomenon called the Magnus effect, which occurs when a liquid or gas flow around a rotating body and causes the appearance of a lifting force acting on the rotating body and facing normal to the direction of the flow. In the Magnus effect, the following are interconnected: the direction and speed of the incoming flow, the direction and cyclic rotation frequency, the direction and the resulting force. This relationship for the cylinder is given by the following formula (1):

(1), где:

(1), where:

;

;

Sв - area of the cylinder (shaft);

- циклическая частота вращения цилиндра;

- the cyclic speed of the cylinder;

ρ is the density of the medium;

- относительная скорость набегающего потока.

is the relative speed of the incoming flow.

компенсируется гидродинамическая сила

, определяющая момент рысканья, которая определяется следующей зависимостью (2):Lifting force

hydrodynamic force is compensated

, which determines the yaw moment, which is determined by the following relationship (2):

(2), где:

(2), where:

- коэффициент лобового сопротивления;

- drag coefficient;

- скорость потока жидкости;

- fluid flow rate;

- площадь сечения по миделю.

- cross-sectional area midship.

The yaw moment is determined by the following equality (3):

(3), где

(3), where

The lift moment can be found as follows (4):

(4), где

(4), where

.

...

Based on the equality of the yaw moment and the moment from the lifting force, we have equality (5):

(5)

(5)

or

представить как

, а

, то равенство (6) примет вид (7):If

imagine how

, a

, then equality (6) takes the form (7):

(7), после преобразования (7) получаем (8):

(7), after transformation (7) we obtain (8):

(8)

(eight)

The essence of the proposed technical solution is illustrated by the sketch shown in figure 1, where:

1 - underwater object;

2 - rotating shaft;

3 - attachment unit with a towing cable.

The yaw control method of a towed underwater object is implemented as follows:

, стремящийся увести за собой переднюю часть подводного объекта вправо/влево. В то же время с увеличением скорости буксировки возрастает подъемная сила

, уводящая носовую часть влево/вправо. При заданном соотношении циклической частоты вращения вала и направления его вращения подъемная сила

уравновешивает момент рысканья

и позволяет подводному объекту держаться заданной траектории (по рысканью). При существенном повышении скорости буксировки для выравнивания подводного объекта по рысканью, для увеличения подъемной силы

, компенсирующей момент

, увеличивают циклическую частоту вращения вала w и, при изменении направления момента рысканья, изменяют направление вращения вала 2. Все это позволяет повысить управляемость по рысканью в большом диапазоне скоростей буксировки, тем самым сделав способ управления путевой устойчивостью буксируемого подводного объекта высокоэффективным, а также увеличив маневренность подводного объекта.In the bow of the underwater object 1, a rotating shaft 2 is vertically installed. When towing at low speeds, the track stability of the underwater object is ensured due to the fact that the attachment point A of the towing cable 3 is located on the same vertical with the center of negative buoyancy (point O) (i.e., the center application of the resultant force of weight G and displacement) and above it. Increasing the towing speed increases the yaw moment

, seeking to lead the front part of the underwater object to the right / left. At the same time, as the towing speed increases, the lifting force increases.

leading the bow to the left / right. At a given ratio of the cyclic rotation frequency of the shaft and the direction of its rotation, the lifting force

balances the yaw moment

and allows the underwater object to adhere to a given trajectory (yaw). With a significant increase in towing speed to level the underwater object in yaw, to increase lift

compensating moment

, increase the cyclic frequency of rotation of the shaft w and, when the direction of the yaw moment changes, change the direction of rotation of the shaft 2. All this makes it possible to increase the yaw control in a wide range of towing speeds, thereby making the method of controlling the track stability of the towed underwater object highly efficient, as well as increasing the maneuverability underwater object.

Example 1.

=0,5 м). Для компенсирования

посередине носовой части располагают вал с приводом от электродвигателя с возможностью регулирования оборотов и направления вращения. Пусть вал имеет размеры: длина

=1м, радиус

=0,1 м. Для случая установки вала в средней части плечом

.Циклическую частоту вращения вала ω, необходимую для уравнивания момента по рысканью определяют из равенства

=

, то есть,исходя из формулы (8) получают зависимость (9):An example of performing the yaw orientation of a towed underwater object for a software with dimensions of 1 × 1 × 1 m.

= 0.5 m). To compensate

in the middle of the bow there is a shaft driven by an electric motor with the ability to control the speed and direction of rotation. Let the shaft have dimensions: length

= 1m, radius

= 0.1 m.For the case of installing the shaft in the middle of the shoulder

.The cyclic shaft rotation frequency ω required to equalize the yaw moment is determined from the equality

=

, that is, based on formula (8), dependence (9) is obtained:

(9).

(nine).

=0,5 м и

), длины вала (

=1 м) и

=1.5 получим зависимость (10) циклической частоты вращения вала, необходимой для поддержания путевой устойчивости подводного объекта от скорости его буксировки:When substituting the numerical values of the shoulders (

= 0.5 m and

), shaft length (

= 1 m) and

= 1.5, we obtain the dependence (10) of the cyclic shaft rotation frequency required to maintain the directional stability of an underwater object on its towing speed:

(10)

(ten)

для приведенного в примере буксируемого подводного объекта представлена на фиг. 2.Addiction

for the exemplary towed underwater object is shown in FIG. 2.

As a result, there is a possibility of track control of a towed underwater object with a cable attachment point in the upper part in a wide range of towing speeds, without increasing the hydrodynamic resistance, because a change in the position of the towed underwater object along yaw occurs only as a result of a change in the angular velocity and direction of rotation of the shaft. In addition, it becomes possible to operatively influence the yaw of the towed underwater object, adjust the towed underwater object to changes in the course of the towing object, and increase the maneuverability of the towed underwater object.

Compared with the known analogues, the claimed technical solution of the method makes it possible to control the yaw of an underwater object in a wide range of towing speeds as a result of aligning the position of the towed underwater object by equalizing changes in the yaw moment when the towing speed changes, by changing the direction of rotation of the shaft and changing the cyclic frequency of rotation of the shaft in in accordance with the change in the direction of the yaw moment and the towing speed, which ensures high efficiency of the "Method for controlling the yaw of a towed underwater object".

Claims (1)

A method for controlling the yaw of a towed underwater object, which consists in the fact that due to the location of the flexible connection attachment point in the upper part of the underwater object on the same vertical line with the center of negative buoyancy, a moment of hydrodynamic force is created, the position of the underwater object during towing is leveled by the lifting force that arises when flowing around a rotating shaft, oriented along the normal to the flow of liquid, which is directed in the direction opposite to the direction of the yaw moment, while in order to align the position of the towed underwater object, a rotating shaft is installed in its bow, characterized in that the position of the underwater object is aligned with a rotating shaft installed vertically in the bow with the possibility changes in the cyclic frequency and direction of rotation of the shaft, the cyclic frequency of rotation of the shaft is changed depending on the speed of movement of the underwater object, the direction of rotation of the shaft is changed depending on which direction is necessary for increase the lifting force.

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