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

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...

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

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