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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

Active Publication Date: 2019-08-23
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above analysis, the embodiment of the present invention aims to provide an underwater vehicle attitude control method based on air film drag reduction technology to solve the uncontrollable navigation attitude caused by cavitation of the fin and rudder in the prior art and damage to the overall structure of the air film. The problem

Method used

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  • Underwater vehicle attitude control method based on gas film drag reduction technology
  • Underwater vehicle attitude control method based on gas film drag reduction technology
  • Underwater vehicle attitude control method based on gas film drag reduction technology

Examples

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Effect test

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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Abstract

The invention relates to an underwater vehicle attitude control method based on a gas film drag reduction technology, and belongs to the technical field of underwater vehicle attitude control. The problems that the navigation attitude is uncontrollable and the overall structure of the gas film is damaged due to the cavitation of the fin rudder in the prior art are solved. The control method comprises the following steps that a plurality of air outlet control areas which are arranged in the axial direction are uniformly distributed on the outer surface of an underwater vehicle; dynamic decoupling is performed according to real-time attitude adjustment requirements of the underwater vehicle, and frictional resistance to be applied in each control area is obtained; the gas flow required to beoutput by the underwater vehicle on the surface of each control area and the pressure exerted by gas on the surface of the underwater vehicle are determined based on the frictional resistance to be applied in each control area; and gas is output on surface of each control area according to the gas flow required to be output and the pressure exerted by the gas on the surface of the underwater vehicle, and the underwater vehicle attitude is adjusted to demand state. The control method is high in attitude adjustment accuracy and good in controllability.

Description

Technical field [0001] The invention relates to the technical field of underwater vehicle attitude control, in particular to an underwater vehicle attitude control method based on air film drag reduction technology. Background technique [0002] At present, for the attitude control methods of underwater vehicles such as mines and torpedoes, the method of arranging fins and rudders in front of the tail thruster of the vehicle is often adopted. [0003] Fins and rudders generally adopt a streamlined airfoil, which generates control torque during navigation and manipulates the aircraft to change its attitude. There are two adverse effects on the control torque generated by the fin rudder through the rudder angle. On the one hand, cavitation will appear in the back flow area of ​​the fin and rudder under the condition of high overspeed navigation, which will cause the nonlinearity of the control torque, and then the uncontrollable navigation attitude. On the other hand, the arrangemen...

Claims

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Application Information

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IPC IPC(8): F42B19/01F42B17/00B63B1/38
CPCB63B1/38B63B2001/387F42B17/00F42B19/01Y02T70/10
Inventor 彭雪明黄磊何春涛段磊张孝石
Owner BEIJING MECHANICAL EQUIP INST
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