Direction adjusting device of underwater self-aircraft and control method thereof

Abstract

The invention belongs to the filed of marine environmental monitoring and submarine resource exploration, in particular to a direction adjusting device of an underwater self-aircraft and a control method thereof. The rotation of steering engines is converted into the rotation of steering shafts by that a fixing plate on a pressurization cabin body is connected with a cabin body of the underwater self-aircraft, a pair of the steering engines which are symmetrical in upper and lower mode or in a left and right mode can drive a respective pair of straight gears to conduct engaged motion. The steering shafts can transfer the rotation to rudders. The motion direction of the whole underwater self-aircraft can be controlled by controlling synchronization deflection of two symmetrical rubbers. Hydrodynamic force is considered by the pressurization cabin body and the rubbers. The pressurization cabin body utilizes a cone shape design. The rubber utilizes a streamline shape design. The direction adjusting device of the underwater self-aircraft and the control method thereof have the advantages of being simple in structure, convenient to dismantle, low in consumption, reliable in operation and the like. Efficient and rapid direction adjusting property can improve maneuverability of the underwater self-aircraft.

Description

Technical field: [0001] The invention belongs to the fields of marine environment monitoring and seabed resource exploration, and in particular relates to a direction adjustment device and a control method of an underwater self-propelled vehicle. Background technique: [0002] Due to the needs of marine resource development and the urgent need for marine environment monitoring, many developed countries in the world are constantly updating the marine environment monitoring systems in the sea areas under their jurisdiction, and strengthening the marine environment and resource survey and monitoring methods in the world's common sea areas. As an important means of survey and monitoring of marine environment and resources, underwater autonomous vehicles have attracted more and more attention from various countries. Autonomous underwater vehicle (AUV), also known as autonomous underwater robot, is not equipped with main cables and tethers, but has its own propulsion device, energ...

AI Technical Summary

Problems solved by technology

At present, there are several schemes for the design of the commonly used direction adjustment device: 1) The scheme of direct connection between the steering gear and the rudder. When connected, due to the limited radial space, the distance between the rudder and the propeller is relatively long, which reduces the ability of the underwater self-vehicle to change direction

2) The scheme of rod transmission is adopted, and the rod transmission is often limited by itself, resulting in low precision of rudder angle and decreased controllability

3) The scheme of installing vertical thrusters and side thrusters is adopted. The coordinated movement of the two thrusters is more complicated, the accuracy is not high, and the energy consumption is high at the same time

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