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Attitude control device for underwater vehicle based on air film drag reduction technology

An attitude control device, a technology for an underwater vehicle, applied in the directions of mines, weapon types, 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: 2021-07-06
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 device based on air film drag reduction technology to solve the uncontrollable navigation attitude caused by fin rudder cavitation and damage to the overall structure of the air film in the prior art. The problem

Method used

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  • Attitude control device for underwater vehicle based on air film drag reduction technology
  • Attitude control device for underwater vehicle based on air film drag reduction technology
  • Attitude control device for underwater vehicle based on air film drag reduction technology

Examples

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Effect test

Embodiment 1

[0055] A specific embodiment of the present invention discloses an underwater vehicle attitude control device based on air film drag reduction technology, such as figure 1 As shown, the device includes an integrated controller M, a plurality of air outlet control areas F uniformly arranged on the outer surface of the underwater vehicle i . Gas generation and control devices are installed in each control area.

[0056] The integrated controller M is used to perform dynamic decoupling according to the real-time attitude adjustment requirements of the underwater vehicle, obtain the frictional resistance that needs to be applied in each control area, and then determine the gas that the underwater vehicle needs to output on the surface of each control area The flow rate and the pressure that the gas should cause on the surface of the underwater vehicle, and the gas flow rate and the pressure are sent to the corresponding control area F i Gas generation and control device.

[005...

Embodiment 2

[0060] Optimizing on the basis of Example 1, the number of the control areas is greater than or equal to 3. As long as the required force can be generated in two perpendicular directions.

[0061] Preferably, the shape and area of ​​each control area are equal. Moreover, the control zones are arranged symmetrically with respect to the axis. Each of said control zones starts at a shoulder position of the underwater vehicle and ends at a tail position of the underwater vehicle.

[0062] Preferably, the gas generation and control device in each control area includes a surface gas outlet structure A, an independent gas chamber B, a gas control system C and a gas source D from the outside to the inside, such as figure 2 shown. The independent gas chamber B, the gas control system C and the gas source D are connected through pipelines. The gas control system C is electrically connected with the comprehensive control system. The surface air outlet structure A and the independen...

Embodiment 3

[0106] The present invention also provides a method for controlling the attitude of an underwater vehicle using the device described in Embodiment 3, comprising the following steps:

[0107] S1. On the outer surface of the underwater vehicle, evenly arrange a plurality of air outlet control areas arranged along the axial direction;

[0108] 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;

[0109] 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;

[0110] S4. Output gas on the surface of each control area according to the above-mentioned gas flow rate to be output and the pressure that the gas should cause on ...

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Abstract

The invention relates to an underwater vehicle attitude control device based on air film drag reduction technology, which belongs to the technical field of underwater vehicle attitude control, and solves the uncontrollable navigation attitude caused by fin rudder cavitation and damage to the overall structure of the air film in the prior art The problem. The device comprises an integrated controller and a plurality of air outlet control areas uniformly arranged on the outer surface of the underwater vehicle. Each control area is equipped with a gas generation and control device; among them, the integrated controller is used to 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, and then Determine the gas flow to be output on the surface of each control area and the pressure that the gas should cause on the surface of the aircraft, and send the gas flow and the pressure to the gas generation and control device in the corresponding control area; the gas generation and control device is used for The generated gas is controlled to be discharged into the water at the gas flow rate and pressure, and the attitude of the underwater vehicle is adjusted to a required state.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle attitude control, in particular to an underwater vehicle attitude control device 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): F42B19/01F42B22/00B63B1/38
CPCB63B1/38B63B2001/387F42B19/01F42B22/00Y02T70/10
Inventor 彭雪明黄磊何春涛段磊张孝石
Owner BEIJING MECHANICAL EQUIP INST
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