A motion control mechanism for a rotor-adjustable underwater glider

Abstract

The invention discloses a movement control mechanism of a rotor adjusting type underground glider, and belongs to the technical field of marine engineering. The mechanism comprises a pair of side wings, a set of side wing bracket, a motor, a sealing ring and a motor fixing bracket, wherein the side wings adopt NACA4412 type, the side wing bracket is used for connecting a tail cone section and the side wings, and the motor is used for controlling the rotation of the tail cone section to further adjust the attitudes of the side wings through the side wing bracket. The mechanism has the beneficial effects that 1, the attitudes of the glider are adjusted by directly using rotors, and by changing the angles of the rotors, the steering radius and the movement direction of the glider are changed by utilizing the components of the lift force in the horizontal direction; and 2, the traditional interior roll adjusting mechanism is saved, the size of the glider is smaller, the control scheme is more novel, and the simplicity and the reliability are realized and the weight of the glider is reduced, so the movement is more flexible, and the consumption of energy sources is less.

Description

technical field [0001] The invention relates to a motion control scheme of an underwater glider, in particular to an underwater glider motion control mechanism adjusted by a rotor, and belongs to the technical field of marine engineering. Background technique [0002] An underwater glider is a device that controls its movement by adjusting the center of gravity and net buoyancy through a built-in actuator. It combines underwater robot technology with buoy technology, and has the advantages of low manufacturing cost, low maintenance cost, convenient delivery and recovery, and long-lasting power. Strong, extremely small energy consumption, low noise and other characteristics, it is suitable for large-scale deployment and use, and has broad application prospects for detection, investigation, and detection of a wide range of marine environments. In 1989, Stammel first proposed the idea of ​​using gliding buoys for marine environmental surveys, which was the original concept of u...

AI Technical Summary

Problems solved by technology

Domestically, research on underwater glider started relatively late. At present, Shenyang Institute of Automation, Chinese Academy of Sciences, Institute of Robotics and Automobile Technology, Tianjin University, and Zhejiang University have also carried out research on related technologies of underwater glider robots, although considerable progress has been made. progress, but most of them are still at the stage of imitating foreign countries. Their control methods and mechanical structures are less innovative, and they are seriously restricted by foreign technology.

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