Steering device of underwater vehicle

Abstract

The invention discloses a steering device of an underwater vehicle. The steering device comprises a permanent magnet, a transmission mechanism and a motor, wherein the motor drives the permanent magnet to rotate around a shaft through the transmission mechanism; the rotating direction of the permanent magnet is perpendicular to the direction of the magnetic pole of the permanent magnet. The steering device disclosed by the invention is fixed on the underwater vehicle; the motor drives the permanent magnet to rotate to a specified direction through the transmission mechanism; the underwater vehicle is enabled to rotate by utilizing the moment from an earth magnetic field on the permanent magnet; when the direction of the magnetic pole of the permanent magnet is consistent with that of the magnetic field, and the moment from the earth magnetic field on the permanent magnet is zero, so that the steering motion of the underwater vehicle finally stops in the direction where the moment on the permanent magnet is zero, and the one-time steering motion of the underwater vehicle is finished. Compared with a conventional gravity-center regulating mechanism system, a conventional propeller system and a conventional steering-engine system, the steering device disclosed by the invention has the advantage that the structure composition is greatly simplified. When the underwater vehicle adopts the steering device disclosed by the invention to perform steering operation, the steering control strategy is greatly simplified, and the energy consumption is reduced accordingly.

Description

technical field [0001] The invention relates to an underwater vehicle control technology, in particular to a steering device for an underwater vehicle. Background technique [0002] With the increasing ocean monitoring activities, some special forms of underwater vehicles have emerged, such as ARGO buoys, underwater glider, etc. In the case of low speed or even zero speed, no steering speed is required, and the torque required for steering is very small. The underwater vehicle is disturbed by the water body, and its direction will change, so it needs to constantly correct its direction, or because of the needs of the task, the underwater vehicle must actively change the direction, whether it is passive direction correction or active To change the direction, the underwater vehicle needs suitable devices and methods to realize the steering function. [0003] Generally, underwater vehicles implement steering operations by adjusting the center of gravity, propeller steering, a...

AI Technical Summary

Problems solved by technology

For example, the underwater glider adopts the center of gravity adjustment method to change the direction, and the center of gravity moves sideways to the underwater glider, and the underwater glider rolls and forms a steering moment; The thrust forms the steering torque; some underwater v

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