Underwater vehicle attitude control method based on gas film drag reduction technology
An underwater vehicle and attitude control technology, which is applied in the direction of weapon types, sea torpedoes, offensive equipment, etc., can solve the problems of destroying the overall structure of the air film and uncontrollable navigation attitude, and achieve the effect of improving the control effect
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Embodiment 1
[0066] A specific embodiment of the present invention discloses an attitude control method of an underwater vehicle based on air film drag reduction technology, such as figure 1 As shown, including the following steps:
[0067] S1. On the outer surface of the underwater vehicle, evenly arrange multiple air outlet control areas along the axial direction;
[0068] S2. Perform dynamic decoupling according to the real-time attitude adjustment requirements of the underwater vehicle to obtain the frictional resistance that needs to be applied in each control zone;
[0069] S3. Based on the frictional resistance to be imposed by the above-mentioned control areas, determine the gas flow rate that the underwater vehicle needs to output on the surface of each control area and the pressure that the gas should cause on the surface of the underwater vehicle;
[0070] S4. Output gas on the surface of each control area according to the above-mentioned gas flow rate and the pressure that the gas shou...
Embodiment 2
[0073] Optimized on the basis of embodiment 1, step S1 can be further refined into the following steps:
[0074] S11. Determine the length of the control zone based on the enveloping moment required by the underwater vehicle's static and maneuverability, combined with the number of control zones, the design arc of the control zone, and the radius of the underwater spacecraft. Specifically, the length L of each control zone is determined by the following formula
[0075]
[0076] In the formula, M is the envelope torque input during design, C f Is the drag coefficient, α is the preset arc of the control zone, and d is the radius of the underwater vehicle.
[0077] S12. Determine the control area area of each control area according to the length of the control area. Specifically, it can be calculated by the following formula
[0078] S=Ldα
[0079] S13. On the outer surface of the underwater vehicle, evenly arrange the number of control zones with the length of the control zone and th...
Embodiment 3
[0114] The present invention also discloses an underwater vehicle attitude control device adopting the method described in embodiment 1, which includes a comprehensive controller, a plurality of outgas control areas uniformly arranged on the outer surface of the underwater vehicle; Gas generation and control devices are installed in the area.
[0115] The integrated controller is used to perform dynamic decoupling according to the real-time attitude adjustment requirements of the underwater vehicle, obtain the frictional resistance to be applied by each control area, and then determine the gas flow rate that the underwater vehicle needs to output on the surface of each control area And the pressure that the gas should cause on the surface of the underwater vehicle, and send the gas flow and the pressure to the gas generation and control device in the corresponding control zone.
[0116] The gas generation and control device is used to control the generated gas to be discharged into...
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