Autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body

Abstract

The invention discloses an autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body which comprises a main body, a heave control mechanism, a bow turning control mechanism, an instrument pod fixing mechanism, a wing type trim control mechanism, a float type trim control mechanism, a transverse tilt control system and an instrument pod; the left heave control cabin and the right heave control cabin of the main body are of columnar cavity structures, and are arranged on the left side and the right side of the upper end of the main body at intervals; the left heave control cabin and the right heave control cabin are respectively connected with an instrument pod base through two inclined struts, and the left heave control cabin and the right heave control cabin are rigidly connected through a horizontal strut; the middle rear part of the horizontal strut is cut off to form a gap; and the heave control hydrofoil of the heave control mechanism is of a wing-shaped structure arranged in the gap at the rear part of the horizontal strut. The autonomous stable multi-degree-of-freedom motion controllable pod type underwater towed body has the advantages of independent stability, controllable multi-degree-of-freedom motion, good course stability, flexible heave control and the like.

Description

technical field

[0001] The invention relates to an underwater towing body, in particular to an autonomously stable multi-degree-of-freedom motion controllable pod-type underwater towing body. Background technique

[0002] The underwater towed body is a commonly used underwater motion platform for dynamic monitoring of underwater physical and chemical environmental parameters such as marine environment monitoring, marine hydrological data observation, and marine disaster warning. It is usually unpowered but relies on ships, submarines, or helicopters. The aircraft is towed forward by the tow cable, and the control signals and collected data are generally transmitted through the cable.

[0003] Limited to the level of science and technology at that time, the underwater towing body originally used by humans could only be towed in a straight line at a fixed depth, and the adjustment of the depth of the underwater towing body into the water was usually only achieved by manually r...

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