Tail control force induced control pull-type cable remote control underwater vehicle

Abstract

The invention discloses a tail control force induced control pull-type cable remote control underwater vehicle which comprises torpedo type floating bodies, a fixed tilt wing type support, a fixed horizontal main wing, a fixed vertical tail wing, a controllable attack angle horizontal tail wing, a tail horizontal thrust water sprayer pipe system and a main cavity capable of realizing a pull course stabilization function, wherein the main cavity is of a vertical rudder shape, the two torpedo type floating bodies are arranged at two sides above a vertical symmetric surface of the main cavity of the underwater vehicle, the fixed horizontal main wing is connected with the two torpedo type floating bodies through a fixed shaft, two support short plates are arranged between the front part of the fixed horizontal main wing and the main cavity, the fixed tilt wing type support is used for connecting the torpedo type floating bodies with the upper part of the main cavity, and the controllable attack angle horizontal tail wing and the fixed vertical tail wing are arranged above the rear part of the main cavity. The tail control force induced control pull-type cable remote control underwater vehicle is flexible and reliable in control mechanism, better in pull course stability, strong in autonomous stabilizing capacity, high in bow steering, heaving, and swaying movement control efficiencies, and higher in business development value.

Description

technical field [0001] The invention relates to a towed remote-controlled underwater vehicle with a cable, in particular to a towed remote-controlled underwater vehicle with a cable guided by tail maneuvering force, which is mainly used for detection of physical or chemical elements such as underwater sound and light, etc. . Background technique [0002] The towed remote-controlled underwater vehicle with cables is a dynamic underwater towed detection equipment used in underwater dynamic acoustics, optics, physical observations, underwater water quality conditions and other chemical parameters. The submersible is towed to perform underwater detection operations. The main cavity is the main part of the underwater vehicle, and it can carry different types of monitoring equipment according to different detection task requirements. The operator on the towing work mothership can issue specific control instructions to the attitude control mechanism of the underwater vehicle thro...

AI Technical Summary

Problems solved by technology

The main defects of this type of underwater submersible in the form of a single cylindrical main cavity are: poor autonomous stability, poor towed heading stability, and difficulty in flexible multi-degree-of-freedom comprehensive control of the submersible

On the other hand, some commercial light towed remote-controlled underwater vehicles with cables on the market are difficult to be satisfactorily applied in actual towed observation operations due to their single control action, difficulty in ensuring their attitude stability, and poor control reliability.

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