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'X'-shaped empennage towed body and motion attitude control method thereof

A technology of towing body and tail, applied in two-dimensional position/channel control, transportation and packaging, ships, etc., can solve the problems of increased cost and complex overall mechanism, and achieve cost reduction, high transmission efficiency, and transmission ratio. stable effect

Inactive Publication Date: 2019-05-24
CHINA THREE GORGES UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The separation of the depth control device and the attitude control device in the existing towed body makes the overall mechanism complex and the cost increases

Method used

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  • 'X'-shaped empennage towed body and motion attitude control method thereof
  • 'X'-shaped empennage towed body and motion attitude control method thereof
  • 'X'-shaped empennage towed body and motion attitude control method thereof

Examples

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Effect test

Embodiment 1

[0038] see Figure 1-3, an "X" type empennage trailing body, which includes a casing 1, on the two side walls of the casing 1, and along its length direction, an acceleration sensor 2 for monitoring its acceleration and an acceleration sensor 2 for monitoring its pressure are sequentially arranged. The pressure sensor 3; the middle part of both sides of the top of the housing 1 is symmetrically installed with a hydrodynamic pressure plate 6; the middle part of the bottom of the housing 1 is equipped with a monitoring device 10; The empennage 8; the X-shaped empennage 8 is connected with the empennage driving device 7; the inside of the housing 1 is also equipped with a power device 9 for driving the entire dragging body. The towing body adopting the above structure is different from the vertical empennage and the horizontal empennage, so that the functions of the horizontal empennage and the vertical empennage can be taken into account to ensure the stability of the underwater...

Embodiment 2

[0049] The motion attitude control method of any one of the "X" type tail dragging body, the underwater dragging body is connected to the dragging cable through the tow cable connection seat 5, and the acceleration sensor 2 and the pressure sensor 3 inside the dragging body respectively monitor the dragging in real time. The rolling motion, pitching attitude and depth information of the towed body are transmitted through the towed cable to the depth, rolling motion, pitching attitude information of the towed body and the monitoring information captured by the monitoring device at the bottom of the towed body;

[0050] The input of the fixed depth PID controller in the fixed depth control system is the difference Z between the depth of the towed body and the target depth monitored by the pressure sensor 3 at the previous moment d , the output is the external force Fz that should be applied vertically to the towed body; the input of the hydraulic pressure plate attack angle contr...

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Abstract

The invention provides an 'X'-shaped empennage towed body and a motion attitude control method thereof. The towed body comprises a shell, an acceleration sensor and a pressure sensor are sequentiallyarranged on two side walls of the shell along the length directions of the side walls of the shell, the acceleration sensor is used for monitoring the accelerated speed of the shell, and the pressuresensor is used for monitoring the pressure of the shell, hydrodynamic pressure plates are symmetrically mounted in the middles of two sides of the top of the shell, a monitoring device is mounted in the middle of the bottom of the shell, an X-shaped empennage is mounted at the tail of the shell and connected with an empennage driving device, and a power device is used for driving the whole towed body is mounted in the shell. The 'X'-shaped empennage is different from a vertical empennage and horizontal empennage and can give consideration to actions of the horizontal empennage and the verticalempennage, and navigational attitude stability of the underwater towed body is ensured.

Description

technical field [0001] The invention belongs to the field of marine monitoring, and in particular relates to an "X" tail dragging body and a method for controlling its movement attitude. Background technique [0002] As an efficient ocean detection platform, the ocean tow system has been widely used in many fields such as ocean research, ocean monitoring, military detection, and underwater acoustic countermeasures with the deepening of ocean development, and is playing an increasingly important role. effect. As countries all over the world have higher requirements for rapid on-site monitoring of underwater environments, the market demand for such devices continues to increase. The working nature of the underwater environment monitoring sensors carried in the towed body requires that the towed body must have a stable attitude when working, and have flexible and rapid depth and attitude adjustment and control capabilities. For this reason experts have been doing a lot of res...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52G05D1/02
Inventor 方子帆郑小伟余红昌何雪辉谢哲雨覃琳
Owner CHINA THREE GORGES UNIV
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