High-speed and high-sea-condition multi-body unmanned underwater vehicle capable of diving and control method thereof

Abstract

The invention discloses a high-speed and high-sea-condition multi-body unmanned underwater vehicle capable of diving and a control method thereof. The multi-body unmanned underwater vehicle comprisesa main ship body, a plurality of propelling sub-ship bodies, a plurality of side wings, a plurality of horizontal rudders, a tail fin and a communication sub-ship body. The side wings are arranged onthe two sides of the main ship body, one ends of the side wings are connected with the main ship body, the other ends of the side wings are connected with one sides of the propelling sub-ship bodies,the other sides of the propelling sub-ship bodies are connected with the horizontal rudders, one end of the tail fin is connected with the main ship body, and the other end of the tail fin is connected with the communication sub-ship body; the communication sub-ship body is in communication connection with the main ship body; the propelling sub-ship bodies and the communication sub-ship body are connected with propellers; and a ballast water tank is further arranged in the main ship body and used for adjusting water inflow and drainage in the ship body. In the invention, functions of overwaternavigation, semi-submersible navigation and full-submersible navigation can be realized, overwater and underwater operation requirements under high sea conditions are met, and stability is kept to the greatest extent.

Description

technical field [0001] The invention relates to the technical field of marine unmanned aerial vehicle navigation, in particular to a multi-body unmanned aerial vehicle capable of diving under high speed and high sea conditions and a control method thereof. Background technique [0002] With the continuous frequency of marine research, development and various activities, the status of unmanned ships is becoming more and more important. As a self-navigating water vehicle, an unmanned ship can replace conventional ships for detection, inspection, search and rescue, transportation and other operations in various harsh environments. Most of the current unmanned ships adopt the conventional ship design. When the conventional ship is sailing at high speed and high sea conditions, it is easy to generate waves on the deck. When the waves rush to the deck and cause shock, it will also generate huge navigation resistance, and it is easy to cause water to enter the ship's cabin. Its sp...

AI Technical Summary

Problems solved by technology

Most of the current unmanned ships adopt the conventional ship design. When the conventional ship is sailing at high speed and high sea conditions, it is easy to generate waves on the deck. When the waves rush to the deck and cause shock, it will also generate huge navigation resistance, and it is easy to cause water to enter the ship's cabin. Its speed, multi-degree-of-freedom controllability, slewing flexibility, stability, seakeeping, etc. are difficult to meet the needs of various harsh environments. It often cannot operate normally in high sea conditions, and even cannot guarantee its own safety.

On the other hand, current underwater unmanned vehicles mostly adopt a single-body design similar to that of a submarine. Because its volume is often much smaller than that of a submarine, the single-body design is not only greatly affected by the tide, but its multi-degree-of-freedom control and stability It is difficult to meet the needs of engineering, and the current technical level lacks effective solutions that can simultaneously meet the needs of high-speed navigation and operations on water and underwater.

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