A Novel Pressure Storage Type Attitude Control System for Underwater Moving Objects

Abstract

The invention relates to a novel pressure-accumulation underwater moving object attitude control system which is provided with a main stream pipe, wherein the front, back, left and right surfaces of the main stream pipe are respectively provided with a water-absorbing hole matrix; the lower part of the main stream pipe is connected with one end of a pressure line, and the other end of the pressure line is connected with a pressure-accumulation bin; the pressure line is sequentially provided with a pressure pump and a one-way valve from the main stream pipe to the pressure-accumulation bin; the pressure pump is connected with a pressure differential controller; the pressure-accumulation bin is provided with a plurality of expansion ports; the expansion ports connect actuating mechanisms with the pressure-accumulation bin through rubber hoses; each actuating mechanism comprises a control actuator and a ceramic valve; and each control actuator is provided with a synchronous motor and a synchronous motor controller. The quantity, mounting positions and mounting directions of the actuating mechanisms can be changed to control the degree of freedom of any dimension, and thus, the system has the advantages of high generated thrust, accurate attitude control and the like. The system has small structural volume, and can satisfy the demands of underwater moving object attitude control for miniaturization and integration.

Description

technical field [0001] The invention relates to the technical field of attitude control of underwater moving objects, in particular to a novel pressure storage type attitude control system for underwater moving objects, especially for small-sized underwater moving objects. Background technique [0002] Underwater moving objects (such as submarines and torpedoes, etc.) are widely used in both military and human production and life, and good attitude control is an important prerequisite and guarantee for underwater moving objects to successfully complete their tasks. [0003] At present, the attitude control of underwater moving objects usually relies on propeller propellers. This method is more commonly used, but this method requires the installation of propeller propellers in each controlled dimension, resulting in a relatively large and complex robot structure and high cost. Chinese patent document CN201210255788.1, published on 2012.10.24, discloses an energy-saving under...

AI Technical Summary

Problems solved by technology

However, the underwater attitude control system is not suitable for small underwater moving objects, and the structure is relatively complicated, and the adjustment flexibility is not good.

[0004] At present, there is no control system that is suitable for small underwater moving objects, can flexibly and accurately control its attitude, and occupies less internal space of underwater moving objects

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