WO2019228235A1

WO2019228235A1 - Underwater vessel having four propellers and control method thereof

Info

Publication number: WO2019228235A1
Application number: PCT/CN2019/087882
Authority: WO
Inventors: 张一军
Original assignee: Zhang Yijun
Priority date: 2018-05-27
Filing date: 2019-07-09
Publication date: 2019-12-05
Also published as: CN108674614A

Abstract

An underwater vessel having four propellers and a control method thereof. The hull (9) of the vessel has a contour conforming to fluid dynamics, and four electric propeller drives (1), (2), (3), and (4) are fixed and installed on the hull (9) at four sides of the hull, forming a "square". The vessel utilizes the four propellers at four sides of the hull to generate upward or downward thrust, and the thrust difference and torsion difference generated due to the different rotational speeds and rotational directions of the four propellers form the control torque for attitude control of the whole vessel and enable the vessel to perform vertical movements and free movement in water, as well as fixed-point hovering at any location during navigation. The vessel and the control method can effectively overcome any impact on the vessel due to changes in the water flow and water density.

Description

Four-propeller underwater vehicle and control method thereof

[0001] The present invention relates to the technical field of ships and marine engineering equipment, and in particular, to a four-propeller underwater vehicle and a control method thereof.

Background technique

[0002] With the development of human fisheries and aquaculture, and the growth of human needs for the development and exploration of underwater resources, underwater vehicles have great application prospects. There are many forms of existing underwater vehicles: First, the use of pressurized water tanks to achieve vertical lift. This method has problems such as large volume and weight, low load level, unstable sailing and slow lift, etc. The second is the use of airfoils and rudders. The surface and the shape of the aircraft can be vertically lifted when sailing horizontally. This method has the disadvantages of complex structure, cumbersome control and control, and can not hover in the water. Third, the vertical thruster is used to control the vertical lift, and the horizontal The propeller controls horizontal navigation. This method has the disadvantages that it needs a floating body or ballast to assist in balancing itself and the weight of the load, the structure is complex, the navigation resistance is large, and the ability to resist water disturbance is poor. Therefore, breaking through the technical limitations of existing underwater vehicles and innovating and developing navigation control methods suitable for underwater vehicles are the keys to achieving breakthroughs in underwater navigation technology.

Summary of the invention

[0003] In order to overcome the problems such as complex external structure, large volume and weight, slow navigation, poor flexibility and stability, low hydrodynamic efficiency, and high manufacturing and use costs, which are common in existing underwater vehicles, the present invention proposes a Propeller underwater vehicle and its control method.

[0004] The cabin of the aircraft adopts a hydrodynamic shape, and four electric propellers are fixedly installed in a “square” arrangement around the cabin. The four propellers around the cabin can be used to generate upward or downward thrust, and the thrust and torque differences generated by the four propellers at different speeds and directions of rotation can be used to form a control torque. The overall attitude control of the aircraft can be implemented to realize that the aircraft is in the water. Vertical lift and free navigation, and hovering at a fixed point at any position during the navigation process; and can effectively overcome the impact of changes in water flow and water density on the aircraft. The aircraft does not need to use any other auxiliary navigation ballast, buoyancy, airfoil, rudder surface and power device, which greatly improves the payload level, speed and flexibility of the aircraft and reduces the volume, weight and navigation of the aircraft. Resistance, manufacturing and use costs.

[0005] The technical solution of the present invention is:

The four-propeller underwater vehicle includes a front left propeller (1), a right front propeller (2), a right rear propeller (3), a left rear propeller (4), Left front bracket (5), right front bracket (6), right rear bracket (7), left rear bracket (8) and aircraft cabin (9), the left front propeller (1) is vertically fixed Installed on the outer end of the left front bracket (5), and the right front propeller (2) is fixedly mounted vertically The outer end of the right front bracket (6), the right rear propeller thruster (3) are vertically fixed on the outer end of the right rear bracket (7), and the left rear propeller (4) are fixed vertically on the left rear The outer end of the bracket (8); the left front side bracket (5) is fixedly installed on the left front side of the middle of the aircraft cabin (9), and the right front bracket (6) is fixedly installed on the right front side of the middle of the aircraft cabin (9), The right rear bracket (7) is fixedly installed on the right rear side of the middle of the aircraft cabin (9), and the left rear bracket (8) is fixedly installed on the left rear of the middle of the aircraft cabin (9); 1), right front propeller (2), right rear propeller (3), left rear propeller (4) are located in a virtual "square" centered on the center of gravity of the aircraft cabin (9) 4 vertex positions.

[0006] In a further preferred solution, the four-propeller underwater vehicle is characterized in that: the left forward propeller (1), the right forward propeller (2), and the right rear propeller (3) ). The left rear propeller (4) is an electric propeller underwater propeller.

[0007] In a further preferred solution, the four-propeller underwater vehicle is characterized in that: the left front propeller (1), the right front propeller (2), and the right rear propeller (3 ), The left rear propeller (4) can rotate in various directions in both forward and reverse directions at various speeds.

[0008] In a further preferred solution, the four-propeller underwater vehicle is characterized in that: the left front side propeller (1), the right front side propeller (2), and the right rear side propeller (3) ), At the time when the left rear propeller thruster (4) generates downward thrust at the same time, the left front propeller thruster (1) and the right rear propeller thruster (3) rotate in the same direction as the right front propeller thruster (2) It is opposite to the direction of rotation of the left rear propeller (4); the same is true for the time when the upward thrust is generated at the same time.

[0009] In a further preferred solution, the four-propeller underwater vehicle is characterized in that: the left forward propeller (1), the right forward propeller (2), and the right rear propeller (3 ), The left rear propeller (4) The total thrust is greater than the difference between the weight of the aircraft itself and the weight of the same volume of water.

[0010] In a further preferred solution, the four-propeller underwater vehicle is characterized in that the cabin of the aircraft adopts a hydrodynamic shape.

[0011] The control method for a four-propeller underwater vehicle is characterized in that: the four-propeller underwater vehicle passes through a left front propeller (1), a right front propeller (2), and a right rear The side propeller propeller (3) and the left rear propeller propeller (4) rotate together to generate upward or downward thrust of the same size, which controls the aircraft to float on the water surface, vertically ascend and descend in the water, hover and sit on the bottom; through the front left Side propeller (1), right front propeller (2), right rear propeller (3), left rear propeller (4) Rotate at different or the same speed and different or the same direction, respectively , Respectively, to generate uniform or inconsistent upward or downward thrust, to control the pitching, rolling, yaw and horizontal navigation of the aircraft on the water surface and in the water. [0012] In a further preferred solution, the method for controlling a four-propeller underwater vehicle is characterized in that: during sailing, the rotation direction of the left front propeller propeller (1) and the right rear propeller propeller (3) are the same as The right front propeller (2) and left rear propeller (4) rotate in opposite directions; adjust the speed of the left front propeller (1), right rear propeller (3) or the right front propeller ( 2). The speed of the left rear propeller thruster (4). The yaw control torque is generated by the interaction of the reverse torque generated by the two, and the yaw control of the aircraft is performed; the left front propeller thruster (1) and the right front are adjusted respectively. The speed of the side propeller (2), the right rear propeller (3), and the left rear propeller (4) generates the roll control torque and pitch control torque, and performs the roll control and pitch control of the aircraft.

[0013] In a further preferred solution, the method for controlling a four-propeller underwater vehicle is characterized in that: during vertical navigation, the speed of the four propellers is synchronously increased or decreased to control the vertical movement of the aircraft and implement yaw control The roll control and pitch control make the attitude and horizontal direction of the aircraft stable.

[0014] In a further preferred solution, the method for controlling a four-propeller underwater vehicle is characterized in that: when horizontally navigating, the vehicle is moved in a sailing direction by performing yaw control, roll control, and pitch control on the aircraft. Tilt so that the horizontal component of the propeller thrust controls the travel of the aircraft and maintains the upward or downward thrust of the 4 propellers to balance the weight of the aircraft and the vertical lifting force generated by horizontal navigation to keep the aircraft stable at the original depth .

[0015] Beneficial effects

The four-propeller underwater vehicle proposed by the present invention uses four propeller propellers installed in a "square" arrangement on the fluid power cabin. By adjusting the thrust of the four propellers, yaw, roll and pitch moments are generated for navigation. The attitude control of the vehicle realizes the free navigation of the vehicle, and effectively solves the disadvantages of the existing underwater vehicle, such as complex structure, low hydrodynamic efficiency, inflexible navigation, poor stability, and susceptibility to the influence of the water environment. The four-propeller underwater vehicle can achieve vertical lift, fixed-point hovering and arbitrary navigation in the water. The four-propeller underwater vehicle can be used in a variety of civil and military fields such as underwater resource exploration, environmental protection, fisheries, aquaculture, tourism and tourism.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a schematic plan view of a four-propeller underwater vehicle according to the present invention;

2 is a schematic rear view of the layout of a four-propeller underwater vehicle according to the present invention;

3 is a schematic side view of a four-propeller underwater vehicle layout according to the present invention;

The components in the drawings are marked as follows: 1. Left front propeller; 2. Right front propeller; 3. Right rear propeller; 4. Left rear propeller; 5. Left front bracket; 6 、 Right front bracket; 7, right rear Bracket; 8, left rear bracket; 9, aircraft cabin.

DETAILED DESCRIPTION

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0019] In the description of the present invention, it should be understood that the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “front "," Back "," front "," reverse "," left "," right "," vertical "," horizontal "," top "," bottom "," center "," inside "," outside ", The azimuth or position relationship indicated by “clockwise”, “counterclockwise” is based on the azimuth or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the device or element referred to. It must have a specific orientation and be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the present invention.

[0020] As shown in FIGS. 1-3, the four-propeller underwater vehicle in this embodiment includes a left-front propeller thruster

(1), right front propeller (2), right rear propeller (3), left rear propeller (4), left front bracket (5), right front bracket (6), right rear The bracket (7), the left rear bracket (8), and the aircraft cabin (9), the left front propeller (1) is vertically fixedly installed at the outer end of the left front bracket (5), and the right front propeller

(2) Vertically fixed to the outer end of the right front bracket (6), right rear propeller thruster (3) Vertically fixed to the outer end of the right rear bracket (7), left rear propeller thruster (4) Vertically fixedly mounted on the outer end of the left rear bracket (8); the left front bracket (5) is fixedly mounted on the left front side of the middle of the aircraft cabin (9), and the right front bracket (6) is fixedly mounted on the aircraft cabin (9) Middle right front side, right rear side bracket (7) fixedly installed on the aircraft cabin (9) middle right rear side, left rear side bracket (8) fixed on the aircraft cabin (9) middle left rear side ; The left front propeller (1), the right front propeller (2), the right rear propeller (3), and the left rear propeller (4) are respectively located in an aircraft cabin (9). The 4 vertex positions of a virtual "square" centered on the center of gravity.

[0021] Four propeller thrusters are symmetrical around the center of gravity of the aircraft in the horizontal plane of the aircraft cabin, and the rotation planes of the four propellers are parallel to the horizontal plane of the aircraft cabin; when the thrust in the same direction is generated, the propeller (1) and the propeller (3) The direction of rotation is the same as the direction of rotation of propeller (2) and propeller (4).

[0022] The four propellers use electric-driven underwater thrusters, each of which can rotate clockwise or counterclockwise and can maintain various speeds; the total thrust of the four propellers is greater than that of navigation The difference between the weight of the device itself and the weight of the same volume of water.

[0023] The cabin of the aircraft in this embodiment adopts a hydrodynamic shape. In order to achieve the smallest resistance of the aircraft when sailing in various directions in the water, it is suitable to use a spherical cabin. [0024] The control mode of the above-mentioned four-propeller underwater vehicle is:

When the four-propeller underwater vehicle is sailing vertically, the rotation directions of propellers 1 and 3 are the same, the rotation directions of propellers 2 and 4 are the same, and the rotation directions of propellers 1 and 3 are opposite to the rotation directions of propellers 2 and 4. Adjust propeller speeds 1 and 3 or propeller speeds 2 and 4 at the same time to balance the reverse torque and perform yaw control. Adjust the speeds of the four propellers to form pitching and rolling moments, and control the attitude of the aircraft. When the total thrust of the four propellers upwards or downwards is greater than the difference between the weight of the aircraft itself and the weight of the same volume of water, the aircraft is controlled to sail vertically up or down in the water; when the total thrust of the four propellers is aggregated upwards or downwards When the difference between the weight of the aircraft itself and the weight of the same volume of water is controlled, the aircraft is controlled to hover in the water.

[0025] During forward sailing, the rotational speeds of the propellers 1 and 2 are reduced synchronously and the rotational speeds of the propellers 3 and 4 are increased synchronously, and a pitch control torque is generated to control the aircraft to tilt forward, when the aircraft reaches the pitch required for forward sailing speed After the angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitch moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the forward level generated by the propeller thrust The component controlled vehicle sailed forward.

[0026] When sailing backwards, the speeds of the propellers 3 and 4 are reduced synchronously and the speeds of the propellers 1 and 2 are increased synchronously, and a pitch control torque is generated to control the aircraft to tilt backward, when the aircraft reaches the pitch required for backward sailing speed After the angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitch moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust to the backward level The component-controlled vehicle sailed backwards.

[0027] When sailing forward to the left, decrease the rotation speed of propeller 1 and increase the rotation speed of propeller 3, while keeping the rotation speed of propellers 2, 4 unchanged, and control the aircraft to lean forward to the left, when the aircraft reaches the forward speed to the left After the required tilt angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitching moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust to generate The leftward forward horizontal component controls the vehicle to sail forward left.

[0028] When navigating to the right and rear, decrease the rotation speed of propeller 3 and increase the rotation speed of propeller 1, while keeping the rotation speed of propellers 2 and 4 unchanged, control the aircraft to tilt to the right and rear, and when the vehicle reaches the speed to the right and rear After the required tilt angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitching moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust to generate The horizontal component to the right and rear controls the vehicle to sail to the right and rear.

[0029] When sailing to the left, the rotation speeds of the propellers 1 and 4 are simultaneously reduced and the rotation speeds of the propellers 2 and 3 are simultaneously increased, and a roll control torque is generated to control the aircraft to tilt to the left. When the aircraft reaches the sailing speed to the left Desired roll angle Then, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitching moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth. Use the propeller thrust to the left The component control vehicle sails to the left.

[0030] When sailing to the right, the rotation speeds of the propellers 2 and 3 are simultaneously reduced and the rotation speeds of the propellers 1 and 4 are simultaneously increased, and a rolling control torque is generated to control the aircraft to tilt to the right. When the aircraft reaches the rightward sailing speed, After the required roll angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitch moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust The resulting horizontal component to the right controls the vehicle to sail to the right.

[0031] When sailing to the right, decrease the rotation speed of propeller 2 and increase the rotation speed of propeller 4, while keeping the rotation speed of propellers 1, 3 constant, and control the aircraft to tilt forward to the right, when the aircraft reaches the forward speed to the right After the required tilt angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitching moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust to generate The forward horizontal component of the right controls the vehicle to sail forward.

[0032] When sailing to the left and left, reduce the rotation speed of propeller 4 and increase the rotation speed of propeller 2, while keeping the rotation speed of propellers 1, 3 unchanged, control the aircraft to lean to the left and rear, and when the aircraft reaches the speed to the left and rear After the required tilt angle, adjust the four propellers to the same speed and adjust the speeds of the four propellers to balance the yaw moment, pitching moment, and roll moment, and control the aircraft to stabilize at the current tilt attitude and depth; use the propeller thrust to generate The left-to-left horizontal component controls the vehicle to sail to the left-left.

[0033] During yaw motion, synchronously decrease the rotation speeds of propellers 1, 3 and increase the rotation speeds of propellers 2, 4 synchronously so that the total thrust of the four propellers does not change and the reverse torque contrast changes to control the aircraft to yaw left; Simultaneous reduction of propeller 2,

The rotation speed of 4 and synchronous increase of the rotation speed of propellers 1 and 3 keep the total thrust of the four propellers constant and the change of the reverse torque to control the aircraft to yaw to the right.

[0034] During the pitching motion, the rotational speeds of the propellers 1 and 2 are simultaneously reduced and the rotational speeds of the propellers 3 and 4 are simultaneously increased to generate a pitch control torque to control the forward pitch of the aircraft; the rotational speeds of the propellers 3 and 4 are simultaneously decreased and the propellers are simultaneously increased. The rotation speeds of 1 and 2 generate a pitch control torque to control the aircraft to pitch backwards; the total thrust of the four propellers during the movement is unchanged, which controls the aircraft to stabilize in the vertical direction.

[0035] During the rolling motion, the rotational speeds of the propellers 1 and 4 are simultaneously reduced and the rotational speeds of the propellers 2 and 3 are simultaneously increased to generate a rolling control torque to control the aircraft to roll to the left; the rotational speeds of the propellers 2 and 3 are simultaneously reduced. The rotation speeds of the propellers 1 and 4 are increased synchronously, and a rolling control torque is generated to control the aircraft to roll to the right; the total thrust of the four propellers is not changed during movement, and the vertical direction of the aircraft is controlled to be stable. [0036] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art will not depart from the present invention. In the case of principle and purpose, the above embodiments can be changed, modified, replaced and modified within the scope of the present invention.

Claims

Claim

[Claim 1] A four-propeller underwater vehicle, comprising: a left-front propeller propeller (

1), right front propeller (2), right rear propeller (3), left rear propeller (4), left front bracket (5), right front bracket (6), right rear bracket (7), the left rear side bracket (8) and the aircraft cabin (9), the left front side propeller (1) is fixedly installed vertically at the outer end of the left front side bracket (5), and the right front side propeller ( 2) Vertically fixed to the outer end of the right front bracket (6), right rear propeller thruster (3) Vertically fixed to the outer end of the right rear bracket (7), left rear propeller thruster (4) vertical The left front side bracket (5) is fixedly mounted on the outer end of the left rear side bracket (8); the left front side bracket (5) is fixedly mounted on the left front side of the middle of the aircraft cabin (9), and the right front side bracket (6) is fixedly mounted on the aircraft cabin ( 9) The center right front side, the right rear side bracket (7) is fixedly installed on the aircraft cabin (9) middle right rear side, and the left rear side bracket (8) is fixed on the aircraft cabin (9) middle left rear side; Left anterior spiral The propeller (1), the right front propeller (2), the right rear propeller (3), and the left rear propeller (4) are respectively located at a center of gravity of the aircraft cabin (9). The 4 vertex positions of the virtual "square".

[Claim 2] The four-propeller underwater vehicle according to claim 1, characterized in that: the left front side propeller (1), the right front side propeller (2), and the right rear side propeller ( 3) The left rear propeller (4) is an electric propeller underwater propeller

[Claim 3] The four-propeller underwater vehicle according to claim 1, characterized in that: the front left propeller (1), the right front propeller (2), and the right rear propeller ( 3) The left rear propeller (4) can rotate in both forward and reverse directions at various speeds.

[Claim 4] The four-propeller underwater vehicle according to claim 1, characterized in that: the front left propeller (1), the right front propeller (2), and the right rear propeller ( 3) At the time when the left rear propeller thruster (4) generates downward thrust at the same time, the left front propeller thruster (1) and the right rear propeller thruster (3) rotate in the same direction as the right front propeller thruster (2). ) Direction of rotation with the left rear propeller (4) Reverse; the same is true at the same time for upward thrust.

[Claim 5] The four-propeller underwater vehicle according to claim 1, characterized in that: the front left propeller (1), the right front propeller (2), and the right rear propeller ( 3) The left rear propeller (4) The total thrust is greater than the difference between the weight of the aircraft itself and the weight of the same volume of water.

[Claim 6] The four-propeller underwater vehicle according to claim 1, wherein the cabin of the aircraft adopts a hydrodynamic shape.

[Claim 7] A control method for a four-propeller underwater vehicle according to any one of claims 1-6, characterized in that: the four-propeller underwater vehicle passes the left front side propeller propeller (1) The front right propeller thruster (2), the right rear propeller thruster (3), and the left rear propeller thruster (4) rotate together to generate a uniform upward or downward thrust, which controls the aircraft to float on the water surface. Vertical lifting, hovering, and sitting bottom in the water; through the left front propeller thruster (1), the right front propeller thruster (2), and the right rear propeller thruster

(3) The left rear propeller thruster (4) Rotates at different or the same speed and different or the same direction, respectively, and generates uniform or inconsistent upward or downward thrust, respectively, to control the pitching of the aircraft on the water surface and in the water, Roll, yaw and level sailing.

[Claim 8] The control method for a four-propeller underwater vehicle according to claim 7, characterized in that

: During sailing, the left front propeller (1) and the right rear propeller (3) rotate in the same direction as the right front propeller (2) and the left rear propeller (4). Left front propeller thruster (1), right rear propeller thruster (3) speed or right front propeller thruster (2), left rear propeller thruster

(4) Rotational speed, the yaw control torque is generated by the interaction of the reverse torsional moments generated by the two, and the yaw control of the aircraft is performed; the left front propeller thruster (1), the right front propeller thruster (2), and the right are adjusted respectively. The rotation speed of the rear propeller thruster (3) and the left rear propeller thruster (4) generates a roll control torque and a pitch control torque to realize the roll control and pitch control of the aircraft.

[Claim 9] The method for controlling a four-propeller underwater vehicle according to claim 7, 8 characterized in that: when vertically sailing, the rotation speed of the four propellers is synchronously increased or decreased to control the aircraft Vertical lift and yaw control, roll control and pitch control are performed to stabilize the aircraft attitude and horizontal direction.

[Claim 10] The method for controlling a four-propeller underwater vehicle according to claims 7, 8 characterized in that: when horizontally sailing, the aircraft is subjected to yaw control, roll control, and pitch control to make the aircraft Tilt to the sailing direction so that the propeller thrust generates a horizontal component to control the aircraft's travel and maintain the upward or downward thrust of the four propellers to balance the weight of the aircraft and the vertical lifting force generated by horizontal navigation to keep the aircraft stable at The original depth.