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Neutral-floatage U-boat with canard arrangement, its navigation depth and suspending stop control thereof

A submarine and buoyancy technology, applied in the direction of underwater ships, ships, underwater operation equipment, etc., can solve the problems of inability to guarantee the attitude level, poor maneuverability, low control efficiency, etc., and achieve good application prospects and economic and hydrodynamics. The effect of good performance and high control efficiency

Inactive Publication Date: 2006-03-15
刘歌群
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] As we all know, submarines use the pumping / draining method to achieve submersion and floating, but the mechanism used in this traditional method is relatively large in size and complex in structure. When draining in deep water, it must overcome high water pressure to do work, and the energy consumption is relatively high. Big, relatively speaking, the maneuverability of the boat is also poor
Among the existing patents, the invention patent with the application number 03123553.0 proposes an auxiliary mechanism for diving and floating of a submarine. When floating, because the gap between the cut hydrofoil and the hull is very different, water will be squeezed out or poured into the gap, the flow field will become complicated, and the hydrodynamic performance of the boat will deteriorate. Therefore, by changing the cut hydrofoil The board inclination auxiliary boat dives and floats, and the control efficiency is not high
Another deficiency of this invention patent is that it does not point out the proper relationship between the lifting force generated by the water on the cutting hydrofoil and the center of gravity of the boat, so it cannot ensure that the boat maintains a horizontal attitude when diving and surfacing
The invention patent with the application number 02130748.2 has elevators on both sides of the front of the boat, and the utility model patent with the patent number 02290693.2 connects the rudder plate to control the up and down at the front of the boat. The common disadvantage of these two patents is that they do not adopt the canard layout , so the attitude cannot be maintained when the submarine dives and rises
The other two patents are used in combination with the pumping / discharging method and are not applicable to unmanned submarines and toy submarines
In addition, in the existing patents related to submarines using the non-pumping / discharging method, the relationship between the buoyancy and gravity of the submarine is not clearly stated, so it cannot be guaranteed that the required lifting force is the smallest when the submarine is submerged, and it can Lowest power consumption, and no patent Based on the hydrodynamic characteristics of the boat, a control method for navigation depth and underwater hovering is proposed

Method used

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  • Neutral-floatage U-boat with canard arrangement, its navigation depth and suspending stop control thereof
  • Neutral-floatage U-boat with canard arrangement, its navigation depth and suspending stop control thereof
  • Neutral-floatage U-boat with canard arrangement, its navigation depth and suspending stop control thereof

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Embodiment Construction

[0022] figure 1 In the external structure diagram of the shown embodiment, the rudder is under the rear part of the boat, and the propeller is positioned at the afterbody of the boat. The elevator is rectangular and parallel linkage. The center of gravity of the boat is at O G point, the center of buoyancy is at O F point, o F point at O G Click above. Buoyancy is F 0 , the gravity is G, the lines of action of the two forces are approximately coincident, satisfying F 0 ≈G and F 0 >G relationship. The resultant force F of the vertical component forces generated by the water on the four elevators Y Approximately passing through the center of gravity O G .

[0023] Figure 4 In the block diagram of the embodiment of the submarine voyage depth control system shown, the voyage depth sensor is a pressure sensor, the voyage depth controller is a computer, the elevator steering gear is an electric steering gear, and the control law is realized by computer software. Becaus...

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Abstract

A submarine with duck-type layout features that its floatage is close to and slightly greater than its gravitation to make the central point of floatage action is above its gravitational center, and 4 linked elevating rudders are arranged at both sides of submarine to make their total vertical action line coincides with the gravitation line of submarine. A method for controlling its navigation depth features used of a closed-loop negative feedback control system to control the deflection angle of 4 elevating rudders. A method for suspending it at a given position in seawater features use of at least two closed-loop negative feedback control systems for the distance and depth control to regulate the direction and speed of propeller and the deflection angle of elevating rudders. It is more suitable for robot submarine or toy.

Description

technical field [0001] The invention relates to an underwater vehicle and a control method thereof, in particular to a submarine with neutral buoyancy and a canard elevator layout and a method for controlling its navigation depth and hovering in water. Background technique [0002] As we all know, submarines use the pumping / draining method to achieve submersion and floating, but the mechanism used in this traditional method is relatively large in size and complex in structure. When draining in deep water, it must overcome high water pressure to do work, and the energy consumption is relatively high. Relatively speaking, the maneuverability of the boat is also poor. Among the existing patents, the invention patent with the application number 03123553.0 proposes an auxiliary mechanism for diving and floating of a submarine. When floating, because the gap between the cut hydrofoil and the hull is very different, water will be squeezed out or poured into the gap, the flow field...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/00
Inventor 刘歌群
Owner 刘歌群
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