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Attitude control method of underwater vehicle based on air film drag reduction technology

An underwater vehicle and attitude control technology, which is applied to the types of weapons, ship construction, transportation and packaging, etc., can solve the problems of uncontrollable navigation attitude and damage to the overall structure of the air film

Active Publication Date: 2021-06-29
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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  • Attitude control method of underwater vehicle based on air film drag reduction technology
  • Attitude control method of underwater vehicle based on air film drag reduction technology
  • Attitude control method of underwater vehicle based on air film drag reduction technology

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Effect test

Embodiment 1

[0066] A specific embodiment of the present invention discloses a method for controlling the attitude of an underwater vehicle based on air film drag reduction technology, such as figure 1 shown, including the following steps:

[0067] S1. On the outer surface of the underwater vehicle, evenly arrange a plurality of air outlet control areas arranged 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 to be applied in each control area;

[0069] S3. Based on the frictional resistance to be applied in 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 to be output ...

Embodiment 2

[0073] Optimizing on the basis of Embodiment 1, step S1 can be further refined into the following steps:

[0074] S11. According to the enveloping moment required by the static force and maneuverability of the underwater vehicle, combined with the number of control areas, the design radian of the control area, and the radius of the underwater spacecraft, determine the length of the control area. Specifically, the length L of each control zone is determined by the following formula

[0075]

[0076] In the formula, M is the envelope moment input during design, C f is the drag coefficient, α is the preset radian of the control area, and d is the radius of the underwater vehicle.

[0077] S12. Determine the area of ​​the control 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, uniformly lay out the number of contro...

Embodiment 3

[0114] The invention also discloses an underwater vehicle attitude control device adopting the method described in Embodiment 1, which includes an integrated controller and a plurality of air outlet control areas uniformly arranged on the outer surface of the underwater vehicle; The area is equipped with gas generation and control devices.

[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 in each control area, and then determine the gas flow rate that the underwater vehicle needs to output on the surface of each control area As well as the pressure that the gas should cause on the surface of the underwater vehicle, the gas flow and the pressure are sent to the gas generation and control device in the corresponding control area.

[0116] The gas generation and control device is used to control the generated gas to be discha...

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Abstract

The invention relates to an attitude control method of an underwater vehicle based on air film drag reduction technology, belongs to the technical field of attitude control of underwater vehicles, and solves the uncontrollable navigation attitude caused by cavitation of the fin rudder in the prior art and the destruction of the overall structure of the air film The problem. The method includes the following steps: on the outer surface of the underwater vehicle, a plurality of air outlet control areas set along the axial direction are evenly arranged; according to the real-time attitude adjustment requirements of the underwater vehicle, dynamic decoupling is performed to obtain the required application of each control area. frictional resistance; based on the above-mentioned frictional resistance to be applied in each control area, 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; The surface of the area outputs gas according to the above-mentioned gas flow rate to be output and the pressure that the gas should cause on the surface of the underwater vehicle to adjust the attitude of the underwater vehicle to the required state. This method has high accuracy of attitude adjustment and good 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 attitude control methods of underwater vehicles such as mines and torpedoes, the method of arranging fin rudders in front of the tail propeller of the vehicle is often used. [0003] The fin rudder generally adopts 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, in the state of high overspeed sailing, cavitation will occur in the leeward flow area of ​​the fin rudder, which will cause the nonlinearity of the control torque, and then lead to the uncontrollable sailing attitude. On the other hand, the fins and rudders prot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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