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...

AI Technical Summary

Problems solved by technology

[0004] The seawater flow caused by the towing of the underwater towed body is complicated. Chinese invention patent 2014102563580 (2014.9.17) is a tail steering force induced control towed remote-controlled underwater vehicle with cables. The fixed inclined airfoil supports are arranged on the torpedo floating body Between the fixed inclined airfoil support and the main cavity, when the sea water is disturbed during the towing process, it will be subjected to an upward or downward lateral disturbance force, which will easily cause the towed body to roll, which will lead to the deterioration of the directional stability of the towed body and the oscillation of the platform. These problems often reduce the detection efficiency of physical or chemical environment detectors, and even lead to serious consequences such as the overturning of the underwater towed body and structural damage; in addition, the towed body is often accompanied by changes in the pitch angle during the towing control process , the pitch angle of this invention cannot be adjusted in real time. In addition, the pitch angle adjustment of part of the existing towed body is realized by changing the angle of attack of the control hydrofoil. When the towing speed is low, this control method is inefficient or even ineffective.

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