WO2017016413A1 - 一种具有自动方向修正功能的水下航行器 - Google Patents

一种具有自动方向修正功能的水下航行器 Download PDF

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Publication number
WO2017016413A1
WO2017016413A1 PCT/CN2016/090415 CN2016090415W WO2017016413A1 WO 2017016413 A1 WO2017016413 A1 WO 2017016413A1 CN 2016090415 W CN2016090415 W CN 2016090415W WO 2017016413 A1 WO2017016413 A1 WO 2017016413A1
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WO
WIPO (PCT)
Prior art keywords
underwater vehicle
permanent magnet
body structure
magnet
correction function
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PCT/CN2016/090415
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English (en)
French (fr)
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 WO2017016413A1 publication Critical patent/WO2017016413A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth

Definitions

  • the present invention relates to an underwater vehicle technology, and more particularly to an underwater vehicle having an automatic direction correction function.
  • 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 need to be suspended in deep water. At this time, the quiet water body in deep water has little interference to the underwater vehicle. In addition, the underwater vehicle with better symmetry has little disturbance of water body when sailing at low speed. However, after the accumulation of small disturbances from the water body and the outside water, the direction of the underwater vehicle will change, resulting in the underwater vehicle not being able to sail or hover in a certain direction. Some monitoring tasks with orientation requirements, such as underwater Photography, sonar scanning, etc. cannot be performed. At this time, the underwater vehicle needs to constantly correct its direction.
  • the direction correction method adopted by the existing underwater vehicle has the center of gravity adjustment correction, the thruster correction, or the thruster with the rudder completion correction, such as
  • the water glider adopts the center of gravity adjustment method to correct the direction
  • the center of gravity moves laterally to the water glider
  • the water glider moves and forms a steering torque
  • some underwater vehicles adopt the lateral thrust of the lateral thruster.
  • the steering torque is formed; some underwater vehicles navigate the rudder to form lateral forces and achieve steering operation; but either way will result in valuable energy consumption, frequent correction will seriously affect the water The continuous working time and voyage of the lower aircraft.
  • the present invention is to design a zero-energy underwater vehicle with automatic direction correction function.
  • an underwater vehicle having an automatic direction correction function comprising a body structure, a control system, an energy system, and a sensor system, further comprising a permanent magnet, the permanent magnet being mounted on On the body structure.
  • the permanent magnet according to the present invention is a combination of a plurality of magnets, and the plurality of magnets have the same magnetic pole direction.
  • the underwater vehicle in the water because the magnet is subjected to the moment of the earth's magnetic field, drives the underwater vehicle to stabilize in a specified direction; when subjected to slight disturbance from its own or external water body, the direction of the underwater vehicle changes.
  • the magnet mounted on the body structure is subjected to the recovery torque of the earth's magnetic field, which will drive the underwater vehicle to correct the direction, so that the underwater vehicle gradually returns to the designated direction.
  • the present invention has the following beneficial effects:
  • the present invention utilizes the action of the earth's magnetic field on the magnet to ensure that the underwater vehicle is always in a fixed direction, and this holding force does not require any energy of the underwater vehicle, thereby achieving zero energy consumption.
  • the present invention installs a permanent magnet on the body structure of the underwater vehicle, the torque applied by the permanent magnet in the earth's magnetic field can be utilized to indirectly act on the underwater vehicle to realize automatic correction of the direction of the underwater vehicle.
  • the permanent magnet involved in the invention adopts a powerful magnet, which can provide a large recovery torque for the underwater vehicle, and the direction of the underwater vehicle is corrected faster;
  • the permanent magnet of the present invention is composed of a plurality of magnets, which is advantageous for making full use of the space of the underwater vehicle.
  • Figure 1 is a schematic view of the structure of the present invention.
  • the body structure 1, permanent magnets, 3, control system, 4, sensor system, 5, energy system.
  • an underwater vehicle having an automatic direction correction function includes a body structure 1, a control system 3, an energy system 5, and a sensor system 4, and further includes a permanent magnet 2, and the permanent magnet 2 is mounted on On the body structure 1.
  • the permanent magnet 2 according to the present invention is a combination of a plurality of magnets, and the plurality of magnets have the same magnetic pole direction.

Abstract

一种具有自动方向修正功能的水下航行器，包括本体结构（1）、控制系统（3）、能源系统（5）和传感器系统（4），还包括永磁体（2），所述的永磁体安装在本体结构上。所述的永磁体为强力磁铁，所述的永磁体为多块磁铁的组合。本发明的水下航行器，由于磁铁受到地球磁场的力矩作用，带动水下航行器稳定在指定方向上；当受到来自自身或外界水体的轻微扰动，水下航行器的方向会发生改变，此时，安装在本体结构上的磁铁受到地球磁场的恢复力矩作用，会带动水下航行器修正方向，使得水下航行器逐渐回到指定方向。

Description

一种具有自动方向修正功能的水下航行器 技术领域
本发明涉及一种水下航行器技术，特别是具有一种具有自动方向修正功能的水下航行器。
背景技术
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、水下滑翔机等，这些水下航行器往往对航速要求很低，甚至需要悬浮在深水中作业。而此时深水本就安静的水体对水下航行器的干扰很小，另外，对称性较好的水下航行器在低速航行时，水体的干扰也很小。但来自自身和外界水体的微小干扰累积后，水下航行器的方向会发生改变，从而导致水下航行器无法按照一定方向稳定航行或者悬停，某些有定向要求的监测任务，比如水下摄影、声呐扫描等无法执行，此时，水下航行器需要不断修正自己的方向。
对于干扰很小，经过较长时间的累积导致水下航行器方向改变的情况，现有水下航行器采用的方向修正方式有重心调节修正、推进器修正或者推进器配合舵完成修正等，比如，一般水下滑翔器采用重心调节方式修正方向，重心向水下滑翔器侧向移动，水下滑翔机横摇运动，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；但无论哪种方式都将导致宝贵的能量消耗，频繁的修正将严重影响水下航行器的连续作业时间和航程。
发明内容
为解决现有技术存在的上述问题，本发明要设计一种零耗能的具有自动方向修正功能的水下航行器。
为了实现上述目的，本发明的技术方案如下：一种具有自动方向修正功能的水下航行器，包括本体结构、控制系统、能源系统和传感器系统，还包括永磁体，所述的永磁体安装在本体结构上。
本发明所述的永磁体为多块磁铁的组合，所述的多块磁铁的磁极方向一致。
本发明的工作原理如下：
处于水中的水下航行器，由于磁铁受到地球磁场的力矩作用，带动水下航行器稳定在指定方向上；当受到来自自身或外界水体的轻微扰动，水下航行器的方向会发生改变，此时，安装在本体结构上的磁铁受到地球磁场的恢复力矩作用，会带动水下航行器修正方向，使得水下航行器逐渐回到指定方向。
与现有技术相比，本发明具有以下有益效果：
1、由于本发明利用地球磁场对磁铁的力矩作用，保证水下航行器始终在固定的方向上，而这种保持力不需要水下航行器的任何能源，因而实现了零能耗。
2、由于本发明在水下航行器的本体结构上安装永磁体，可以利用永磁体在地球磁场中受到的力矩作用，间接作用在水下航行器上，实现水下航行器方向的自动修正。
3、本发明中涉及的永磁体采用强力磁铁，可以为水下航行器提供较大的恢复力矩，水下航行器的方向修正速度更快；
4、本发明的永磁体由多块磁铁组成，有利于充分利用水下航行器的空间。
附图说明
本发明仅有附图1张，其中：
图1是本发明的结构示意图。
图中：1、本体结构，2、永磁体，3、控制系统，4、传感器系统，5、能源系统。
具体实施方式
下面结合附图对本发明进行进一步地描述。如图1所示，一种具有自动方向修正功能的水下航行器，包括本体结构1、控制系统3、能源系统5和传感器系统4，还包括永磁体2，所述的永磁体2安装在本体结构1上。
本发明所述的永磁体2为多块磁铁的组合，所述的多块磁铁的磁极方向一致。

Claims (2)

  1. 一种具有自动方向修正功能的水下航行器，包括本体结构(1)、控制系统(3)、能源系统(5)和传感器系统(4)，其特征在于：还包括永磁体(2)，所述的永磁体(2)安装在本体结构(1)上。
  2. 根据权利要求1所述的一种具有自动方向修正功能的水下航行器，其特征在于：所述的永磁体(2)为多块磁铁的组合，所述的多块磁铁的磁极方向一致。
PCT/CN2016/090415 2015-07-24 2016-07-19 一种具有自动方向修正功能的水下航行器 WO2017016413A1 (zh)

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CN105892475A (zh) * 2016-05-04 2016-08-24 中国海洋大学 基于模糊pid的水下滑翔机姿态控制算法

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