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A variable torsional stiffness underwater tractor hydrofoil system for gliders

A technology of torsional stiffness and tractor, applied in the field of ships and marine engineering, can solve the problems of random wave conditions, large changes, difficult to achieve optimal performance, etc., to achieve high adaptability, reduce requirements, and reduce energy consumption.

Active Publication Date: 2022-08-09
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this torsional rigidity is usually only sufficient to achieve the best performance under specified conditions
In the time span of a wave glider from a few months to a year, the wave state is random and changes greatly, and it is difficult for the existing design to achieve the best performance

Method used

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  • A variable torsional stiffness underwater tractor hydrofoil system for gliders
  • A variable torsional stiffness underwater tractor hydrofoil system for gliders
  • A variable torsional stiffness underwater tractor hydrofoil system for gliders

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0060] like Figure 4 As shown, it is an underwater tractor including a straight-pull hydrofoil stiffness adjustment system, including a hydrofoil pitch motion unit, a stiffness adjustment system, a speed sensing unit, and a mounting plate frame assembly. The hydrofoil pitching motion unit includes a hydrofoil 301, a fixed rotating shaft 302, a motion shaft 303, a spring 304, and a spring connecting pin 305. The stiffness adjustment system includes a wire rope 306, a worm gear transmission structure 307, and a motor 308. The speed sensing unit includes The inertial sensor 309, the flow velocity sensor 310, and the mounting plate assembly include side plates 311 and other connecting fasteners.

[0061] The inertial sensor 309 and the flow velocity sensor 310 are installed independently, wherein the flow velocity sensor is installed in front of the underwater tractor to avoid interference by the hydrofoil wake,

[0062] The underwater tractor has 6 pitching motion units, and th...

Embodiment 2

[0066] like Figure 5 As shown, it is an underwater tractor including a rigid sliding link type hydrofoil stiffness adjustment system, including a hydrofoil pitching motion unit, a stiffness adjustment system, a speed sensing unit, and a mounting plate frame assembly. The hydrofoil pitching motion unit includes a hydrofoil 301, a fixed rotating shaft 302, a moving shaft 303, a spring 304, and a spring connecting pin 305. The stiffness adjustment system includes a linear bearing module 312, an adapter part 313, a sliding link 314, a wire The rod nut mechanism 315 , the motor 308 , the speed sensing unit includes an inertial sensor 309 , a flow velocity sensor 310 , and the mounting plate assembly includes a side plate 311 .

[0067] Both the inertial sensor 309 and the flow rate sensor 310 can be strap-down mounted.

[0068] The underwater tractor has 6 pitching motion units, and the fixed rotating shaft 302 is installed on the side plate 311 . There are six grooves with a le...

Embodiment 3

[0072] like Image 6 As shown, it is an underwater tractor including a straight-pull hydrofoil stiffness adjustment system, including a hydrofoil pitch motion unit, a stiffness adjustment system, a speed sensing unit, and a mounting plate frame assembly. The hydrofoil pitching motion unit includes a hydrofoil 301, a fixed rotating shaft 302, a moving shaft 303, a spring 304, and a spring connecting pin 305. The stiffness adjustment system includes a wire rope 306, a worm gear transmission structure 307, a motor 308, and a fixed pulley 317. The speed sensing unit includes an inertial sensor 309 , a flow velocity sensor 310 , and the mounting plate assembly includes a side plate 311 .

[0073] The third embodiment is roughly the same as the first embodiment, except that a fixed pulley structure is added. After adding the fixed pulley structure, the position of the spring connecting pin 305 can be moved downward, thereby preventing the interference between the wire rope 306 and ...

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Abstract

The present invention provides a variable torsional stiffness underwater tractor hydrofoil system for a glider, comprising a surface floating body vessel, a flexible cable, an underwater tractor, a hydrofoil stiffness adjustment system and a sensing unit. There are springs in the aircraft to connect with the hydrofoils. Under different initial tensions of the springs, the hydrofoils show different pitch stiffnesses and thus have different propulsion forces in waves. In the hydrofoil stiffness adjustment system, by setting a motor and a rope, pulling the movable end of the spring, and adjusting the tension force of the spring, the stiffness of the hydrofoil is controlled, and finally different propulsion forces are obtained. The present invention adopts a series structure, and can directly control the pitch stiffness of a plurality of hydrofoils through one motor. The sensing unit can sense information such as flow velocity and position and attitude, and feed the information back to the control system. The control system further controls the pitch stiffness of the hydrofoil according to the feedback information, realizes the regulation of the speed of the wave glider, and then realizes underwater traction. The best propulsion performance of the machine.

Description

technical field [0001] The invention relates to the technical field of ships and marine engineering, in particular to a variable torsional stiffness underwater tractor hydrofoil system for gliders, and in particular to a variable torsional stiffness underwater tractor hydrofoil for a wave glider design. Background technique [0002] The wave glider uses solar energy to power the sensor and communication equipment it carries. Through a new type of ocean mobile observation platform that directly converts wave power into forward power, through the comprehensive utilization of wave energy and solar energy, it can achieve up to one year and tens of thousands of kilometers. It has become a research hotspot at home and abroad. [0003] The wave glider mainly includes three parts, the floating body on the water surface, the connecting flexible cable, and the underwater tractor. Among them, the passive flapping motion of the hydrofoil carried by the underwater tractor generates for...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H19/02B63C11/34B63B35/00
CPCB63H19/02B63C11/34B63B35/00Y02T70/5236
Inventor 陈卫星张永矿文娱赵现朝张卫东高峰
Owner SHANGHAI JIAO TONG UNIV
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