WO2017016412A1 - Steering device of underwater vehicle - Google Patents

Steering device of underwater vehicle Download PDF

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Publication number
WO2017016412A1
WO2017016412A1 PCT/CN2016/090414 CN2016090414W WO2017016412A1 WO 2017016412 A1 WO2017016412 A1 WO 2017016412A1 CN 2016090414 W CN2016090414 W CN 2016090414W WO 2017016412 A1 WO2017016412 A1 WO 2017016412A1
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WO
WIPO (PCT)
Prior art keywords
permanent magnet
underwater vehicle
steering
steering device
transmission mechanism
Prior art date
Application number
PCT/CN2016/090414
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French (fr)
Chinese (zh)
Inventor
王天霖
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大连海事大学
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Publication date
Application filed by 大连海事大学 filed Critical 大连海事大学
Publication of WO2017016412A1 publication Critical patent/WO2017016412A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements

Definitions

  • the invention relates to an underwater vehicle control technology, in particular to a steering device for an underwater vehicle.
  • underwater vehicles With the increasing number of marine monitoring activities, some special forms of underwater vehicles have emerged, such as ARGO buoys, water gliders, etc. These underwater vehicles often have low speed requirements and even require floating water operations. At low speeds or even zero speeds, no steering speed is required and the required torque for steering is small. While the underwater vehicle is disturbed by the water body, its direction will change, so it is necessary to constantly correct its own direction, or because the operation task requires the underwater vehicle to actively change direction, whether it is passive direction correction or active. To change direction, underwater vehicles require suitable equipment and methods to achieve steering functions.
  • the underwater vehicle adopts the center of gravity to adjust the steering, the propeller steering, and the steering steering to implement the steering operation.
  • the water glider adopts the center of gravity adjustment to change direction, the center of gravity moves laterally to the water glider, the water glider moves and forms steering torque; some underwater vehicles use lateral thrusters.
  • the thrust forms the steering torque; some underwater vehicles navigate the rudder to form the lateral force and realize the steering operation; but in the above modes, the drive system and related control strategies are complicated and difficult. Will result in a significant amount of energy consumption, frequent steering operations will seriously affect the continuous operation time and range of the underwater vehicle.
  • the present invention is to design a steering device for an underwater vehicle that has a simple structure, a simple control strategy, and low energy consumption.
  • a steering device for an underwater vehicle comprising a permanent magnet, a transmission mechanism, and a motor; the motor drives a permanent magnet to rotate about a shaft through a transmission mechanism; The direction of the magnetic poles of the permanent magnets is perpendicular to each other.
  • the permanent magnet of the present invention is a one-piece powerful magnet.
  • the permanent magnet according to the present invention is a combination of a plurality of powerful magnets, and the magnetic pole directions of the plurality of magnets are uniform.
  • the working principle of the invention is as follows: the invention is fixed on the underwater vehicle; the motor drives the permanent magnet to rotate to a specified direction through the transmission mechanism; and the underwater vehicle is rotated by the moment of the earth magnetic field received by the permanent magnet; the permanent magnet When the magnetic pole direction is consistent with the direction of the earth's magnetic field, the permanent magnet is subjected to the zero moment of the earth's magnetic field, so the steering motion of the underwater vehicle will eventually stop in the direction in which the moment of the permanent magnet is zero, one underwater navigation The steering movement of the device ends.
  • the present invention has the following beneficial effects:
  • the structure of the present invention is very simple, and its structural composition is greatly simplified with respect to the existing center of gravity adjustment mechanism system, the propeller system, and the steering gear system.
  • the steering operation of the underwater vehicle is carried out by the invention, and the repeated steering operation in the steering process is avoided to realize the situation of one steering, the steering requirement can be completed by one drive, the steering control strategy is greatly simplified, and the energy consumption is correspondingly reduce.
  • Figure 1 is a schematic view of the structure of the present invention.
  • Fig. 2 is a schematic view showing another structure of the present invention.
  • a steering device for an underwater vehicle includes a permanent magnet 1, a transmission mechanism 2, and a motor 3; the motor 3 drives a permanent magnet 1 to rotate about a shaft through a transmission mechanism 2; The direction is perpendicular to the magnetic pole direction of the permanent magnet 1.
  • the permanent magnet 1 of the present invention is a one-piece powerful magnet.
  • the permanent magnet 1 according to the present invention is a combination of a plurality of powerful magnets, and the magnetic pole directions of the plurality of magnets are uniform.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

A steering device of an underwater vehicle comprises a permanent magnet (1), a transmission mechanism (2), and a motor (3). The motor (3) drives the permanent magnet (1) to rotate around a shaft by means of the transmission mechanism (2). The rotating direction of the permanent magnet (1) is perpendicular to the direction of a magnetic pole of the permanent magnet (1). The steering device is fixed onto an underwater vehicle, the motor (3) drives the permanent magnet (1) to rotate to an appointed direction by means of the transmission mechanism (2), and the underwater vehicle is enabled to rotate by means of the torque action from an earth magnetic field on the permanent magnet (1). When the direction of the magnetic pole of the permanent magnet (1) is consistent with that of the earth magnetic field, the torque action from the earth magnetic field on the permanent magnet is zero, and the steering motion of the underwater vehicle stops. When a steering operation is executed on the underwater vehicle by means of the steering device, a steering control strategy is simplified, and the corresponding energy consumption is reduced.

Description

一种水下航行器的转向装置Steering device of underwater vehicle 技术领域Technical field
本发明涉及一种水下航行器控制技术，特别是一种水下航行器的转向装置。The invention relates to an underwater vehicle control technology, in particular to a steering device for an underwater vehicle.
背景技术Background technique
随着海洋监测活动日益增加，一些特殊形式的水下航行器应运而生，比如ARGO浮标、水下滑翔器等，这些水下航行器往往对航速要求不高，甚至需要悬浮水中作业，在很低的航速甚至是零航速情况下，不要求转向速度，转向所需力矩很小。而水下航行器受水体干扰，其方向会发生改变，因此需要不断修正自己的方向，又或者因为作业任务的需要，水下航行器要主动改变方向，无论是被动的方向修正，还是主动的改变方向，水下航行器需要合适的装置和方法来实现转向功能。With the increasing number of marine monitoring activities, some special forms of underwater vehicles have emerged, such as ARGO buoys, water gliders, etc. These underwater vehicles often have low speed requirements and even require floating water operations. At low speeds or even zero speeds, no steering speed is required and the required torque for steering is small. While the underwater vehicle is disturbed by the water body, its direction will change, so it is necessary to constantly correct its own direction, or because the operation task requires the underwater vehicle to actively change direction, whether it is passive direction correction or active. To change direction, underwater vehicles require suitable equipment and methods to achieve steering functions.
一般水下航行器采用重心调节转向、推进器转向、舵转向等方式实施转向操作。比如，水下滑翔器采用重心调节方式改变方向，重心向水下滑翔器侧向移动，水下滑翔器横摇运动，并形成转向力矩；有的水下航行器采用侧向推进器的侧向推力形成转向力矩；也有的水下航行器航行过程中，通过调控舵的转角，形成侧向力，并实现转向操作；但以上各方式，驱动系统和相关控制策略都很复杂和困难，也都将导致宝贵的大量的能量消耗，频繁的转向操作将严重影响水下航行器的连续作业时间和航程。Generally, the underwater vehicle adopts the center of gravity to adjust the steering, the propeller steering, and the steering steering to implement the steering operation. For example, the water glider adopts the center of gravity adjustment to change direction, the center of gravity moves laterally to the water glider, the water glider moves and forms steering torque; some underwater vehicles use lateral thrusters. The thrust forms the steering torque; some underwater vehicles navigate the rudder to form the lateral force and realize the steering operation; but in the above modes, the drive system and related control strategies are complicated and difficult. Will result in a significant amount of energy consumption, frequent steering operations will seriously affect the continuous operation time and range of the underwater vehicle.
发明内容Summary of the invention
为解决现有技术存在的上述问题，本发明要设计一种结构简单、控制策略简单，耗能较低的水下航行器的转向装置。In order to solve the above problems existing in the prior art, the present invention is to design a steering device for an underwater vehicle that has a simple structure, a simple control strategy, and low energy consumption.
为了实现上述目的，本发明的技术方案如下：一种水下航行器的转向装置，包括永磁体、传动机构和电机；所述电机通过传动机构驱动永磁体绕轴转动；所述永磁体转动方向与永磁体的磁极方向相互垂直。In order to achieve the above object, the technical solution of the present invention is as follows: a steering device for an underwater vehicle, comprising a permanent magnet, a transmission mechanism, and a motor; the motor drives a permanent magnet to rotate about a shaft through a transmission mechanism; The direction of the magnetic poles of the permanent magnets is perpendicular to each other.
本发明所述的永磁体为一整块强力磁铁。The permanent magnet of the present invention is a one-piece powerful magnet.
本发明所述的永磁体为多块强力磁铁组合，多块磁铁的磁极方向一致。 The permanent magnet according to the present invention is a combination of a plurality of powerful magnets, and the magnetic pole directions of the plurality of magnets are uniform.
本发明的工作原理如下：将本发明固定在水下航行器上；电机通过传动机构驱动永磁体转动至指定方向；利用永磁体受到的地球磁场的力矩作用使得水下航行器发生转动；永磁体的磁极方向与地球磁场方向一致时，永磁体受到地球磁场的力矩作用为零，所以水下航行器的转向运动最终也将在永磁体受到的力矩作用为零的方向上停止，一次水下航行器的转向运动结束。The working principle of the invention is as follows: the invention is fixed on the underwater vehicle; the motor drives the permanent magnet to rotate to a specified direction through the transmission mechanism; and the underwater vehicle is rotated by the moment of the earth magnetic field received by the permanent magnet; the permanent magnet When the magnetic pole direction is consistent with the direction of the earth's magnetic field, the permanent magnet is subjected to the zero moment of the earth's magnetic field, so the steering motion of the underwater vehicle will eventually stop in the direction in which the moment of the permanent magnet is zero, one underwater navigation The steering movement of the device ends.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明的结构很简单，相对于现有的重心调节机构系统、推进器系统以及舵机系统，其结构组成大大简化。1. The structure of the present invention is very simple, and its structural composition is greatly simplified with respect to the existing center of gravity adjustment mechanism system, the propeller system, and the steering gear system.
2、采用本发明进行水下航行器的转向操作，避免了转向过程中的反复多次操作才能实现一次转向的情况，一次驱动即可完成转向要求，转向的控制策略大大简化，耗能也相应降低。2. The steering operation of the underwater vehicle is carried out by the invention, and the repeated steering operation in the steering process is avoided to realize the situation of one steering, the steering requirement can be completed by one drive, the steering control strategy is greatly simplified, and the energy consumption is correspondingly reduce.
附图说明DRAWINGS
本发明共有附图2张，其中：The invention has two drawings in total, wherein:
图1是本发明的结构示意图。Figure 1 is a schematic view of the structure of the present invention.
图2是本发明的另一结构示意图。Fig. 2 is a schematic view showing another structure of the present invention.
图中：1、永磁体，2、传动机构，3、电机。In the figure: 1, permanent magnet, 2, transmission mechanism, 3, motor.
具体实施方式detailed description
下面结合附图对本发明进行进一步地描述。如图1所示，一种水下航行器的转向装置，包括永磁体1、传动机构2和电机3；所述电机3通过传动机构2驱动永磁体1绕轴转动；所述永磁体1转动方向与永磁体1的磁极方向相互垂直。The invention is further described below in conjunction with the drawings. As shown in FIG. 1, a steering device for an underwater vehicle includes a permanent magnet 1, a transmission mechanism 2, and a motor 3; the motor 3 drives a permanent magnet 1 to rotate about a shaft through a transmission mechanism 2; The direction is perpendicular to the magnetic pole direction of the permanent magnet 1.
本发明所述的永磁体1为一整块强力磁铁。The permanent magnet 1 of the present invention is a one-piece powerful magnet.
如图2所示，本发明所述的永磁体1为多块强力磁铁组合，多块磁铁的磁极方向一致。 As shown in FIG. 2, the permanent magnet 1 according to the present invention is a combination of a plurality of powerful magnets, and the magnetic pole directions of the plurality of magnets are uniform.

Claims (3)

  1. 一种水下航行器的转向装置，其特征在于：包括永磁体(1)、传动机构(2)和电机(3)；所述电机(3)通过传动机构(2)驱动永磁体(1)绕轴转动；所述永磁体(1)转动方向与永磁体(1)的磁极方向相互垂直。A steering device for an underwater vehicle, comprising: a permanent magnet (1), a transmission mechanism (2) and a motor (3); the motor (3) drives a permanent magnet (1) through a transmission mechanism (2) Rotating around the axis; the direction of rotation of the permanent magnet (1) is perpendicular to the direction of the magnetic pole of the permanent magnet (1).
  2. 根据权利要求1所述的一种水下航行器的转向装置，其特征在于：所述的永磁体(1)为一整块强力磁铁。A steering device for an underwater vehicle according to claim 1, wherein said permanent magnet (1) is a one-piece powerful magnet.
  3. 根据权利要求1所述的一种水下航行器的转向装置，其特征在于：所述的永磁体(1)为多块强力磁铁组合，多块磁铁的磁极方向一致。 The steering device for an underwater vehicle according to claim 1, wherein the permanent magnet (1) is a combination of a plurality of powerful magnets, and the magnetic poles of the plurality of magnets have the same direction.
PCT/CN2016/090414 2015-07-24 2016-07-19 Steering device of underwater vehicle WO2017016412A1 (en)

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CN201510442704.9 2015-07-24

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* Cited by examiner, † Cited by third party
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CN105059518A (en) * 2015-07-24 2015-11-18 大连海事大学 Steering device of underwater vehicle
CN115892409A (en) * 2022-11-30 2023-04-04 北京机电工程研究所 Steering device of small underwater vehicle

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CN2539985Y (en) * 2001-12-31 2003-03-12 中国科学院紫金山天文台 Directional attitude control cradle
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