A controllable pod-type underwater towing body with stable attitude and multiple degrees of freedom

Abstract

The invention discloses a stable-posture multi-degree-of-freedom controllable pod type underwater dragging body. The dragging body comprises a main body, a longitudinal inclination control mechanism,a heaving control mechanism and a bow changing control mechanism; the main body comprises a wing type pod, an inclined strut, a stand column, a longitudinal inclination control bin, a heaving controlbin and a cable hole; the wing type pod is of a water sealing cavity structure and is horizontally located at the lower portion of the main body, the longitudinal inclination control bin and the heaving control bin are each of a water sealing cavity structure and are arranged at the upper end of the wing type pod in a spaced mode through two stand columns, a heaving control hydrofoil of the heaving control mechanism is arranged in a gap of a longitudinal inclination control hydrofoil; the right end of the heaving control hydrofoil is in rigid connection with a heaving positioning shaft, and aheaving drive shaft penetrates through a through axle hole formed in the left side of the gap of the longitudinal inclination control hydrofoil and is in rigid connection with a heaving turbine; a heaving worm is meshed with the heaving turbine, and the heaving worm is connected with a heaving servo motor; the dragging body has the advantages that towing resistance is small, multiple degrees of freedom are controllable, the motion control posture is stable, and bin arrangement is reasonable.

Description

technical field [0001] The invention relates to an underwater towing body, in particular to a controllable pod type underwater towing body with stable posture and multiple degrees of freedom. Background technique [0002] The underwater towing body is a kind of underwater sports platform that sails below the water surface. It usually has no power device itself but is towed forward by ships, submarines, helicopters and other aircraft through cables. The underwater towing body is usually equipped with various Physical or chemical detection instruments to perform specific marine environment detection tasks. [0003] The motion control method of the early underwater towed body was relatively simple, and the water entry depth of the underwater towed body could only be changed by retracting and releasing the towing cable or changing the towing speed. The operation was cumbersome and there was almost no ability to move in the horizontal plane. In recent years, with the advancement...

AI Technical Summary

Problems solved by technology

Chinese invention patent 2013105566321 (2014.3.12) discloses a vertical heading and steerable underwater towed body. The two torpedo-shaped floating bodies of this invention are arranged on both sides above the vertical symmetry plane of the main cavity, and the airfoil braces are arranged on the torpedo. Between the floating body and the main cavity, one end is connected to the torpedo-shaped floating body, and the other end is connected to the upper part of the main cavity. The fixed horizontal tail and the fixed vertical tail are arranged at the rear of the main cavity, and both adopt symmetrical airfoils; the invention turns the bow The controller includes a watertight motor and a propeller, and the bow turning controllers are respectively arranged at the tail of the two torpedo-shaped floating bodies; the airfoil struts exposed to the outside of the towing body are tilted upward or downward during the towing process. The lateral disturbance force of the towed body will easily cause the towed body to roll, which will lead to the deterioration of the directional stability of the towed body, platform oscillation and even overturning. These problems often reduce the detection efficiency of physical or chemical environment detectors, and even cause the underwater towed body to overturn , structural damage and other serious consequences; in addition, the towed body is often accompanied by changes in the pitch angle during the towing control process, and this invention lacks a dynamic pitch control mechanism; The larger the propeller, the lower the control efficiency, which is contrary to the actual demand of increasing the towing speed to improve the detection efficiency

The above problems usually lead to the failure of the physical or chemical environment detectors carried by the underwater towed body, which seriously affects the detection efficiency.

Therefore, how to improve the stability of the underwater towed body's towed attitude, the flexibility and stability of multi-degree-of-freedom motion control is an unavoidable technical problem in the current research and development process of the underwater towed body

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