Underwater vehicle system incorporating dual ballast buoyancy mechanisms and a dynamic center-of-gravity compensation module

Abstract

This invention provides an attitude stabilization control structure for an underwater vehicle, comprising a main frame with left and right water intake and drainage ballast tanks on either side. These ballast tanks can adjust their internal water volume through water intake and drainage components to create a localized differential buoyancy distribution. Furthermore, this invention includes a mass-compensating counterweight ballast tank at the center of the vehicle body, movable in a predetermined direction. This counterweight ballast tank can adjust its internal water volume by pumping or draining water to change buoyancy, and its position relative to the vehicle's geometric center can be changed through a mass sliding guide structure to provide mass displacement compensation torque. The mass-compensating counterweight ballast tank may include a pumping motor, piping, and control components to achieve a synergistic effect of buoyancy adjustment and center of gravity fine-tuning. When the vehicle is operating underwater, through the buoyancy difference control between the left and right intake and discharge ballast tanks, and the sliding and buoyancy adjustment of the mass compensation ballast tank, the vehicle can generate a synergistic effect of buoyancy torque and mass displacement compensation torque to achieve attitude balance maintenance. The technical feature of this invention lies in utilizing the buoyancy adjustment of the left and right intake and discharge ballast tanks, combined with the movement of the mass compensation ballast tank along the mass sliding guide structure, to form a synergistic compensation of buoyancy distribution and center of gravity position, reducing the need for continuous thruster compensation and improving the attitude stability of the underwater vehicle in a low-energy state.

Claims

1. A dual-ballast buoyancy and dynamic center of gravity compensation underwater vehicle system, comprising: A main frame; a left-side and a right-side ballast tank for water intake and drainage, disposed on the left and right sides of the main frame, the ballast tanks being selectively capable of water intake or drainage to adjust the buoyancy of the underwater vehicle; at least one suction / drainage control motor and gear transmission mechanism disposed in the left-side and right-side ballast tanks, the gear transmission mechanism being linked to the suction / drainage control motor to drive pistons or other fluid adjustment components within the ballast tanks to reciprocate, thereby realizing the water intake or drainage function of the ballast tanks; and a dynamic center of gravity compensation module disposed in the central area of ​​the main frame, the dynamic center of gravity compensation module including an independent mass compensation counterweight ballast tank, having suction / drainage function, and including a dynamic center of gravity compensation module gear transmission mechanism and a mass sliding guide structure, so that the mass compensation counterweight ballast tank can move in at least one direction to change the center of gravity position of the vehicle, thereby maintaining the stability of the underwater vehicle's attitude when floating or sinking or when the external load changes.

2. The underwater vehicle system as described in claim 1, wherein the left and right water intake and discharge ballast tanks are used to fine-tune the vehicle's attitude. By adjusting the difference in water volume between the left and right water intake and discharge ballast tanks, a buoyancy differential effect is generated to control the pitch and roll angles. The mass compensation counterweight ballast tank works in conjunction with the left and right water intake and discharge ballast tanks to form a dual buoyancy and mass compensation mechanism, enabling the vehicle to maintain a horizontal or predetermined operating attitude.

3. The underwater vehicle system with dual ballast buoyancy and dynamic center of gravity compensation as described in claim 1, wherein the mass compensation counterweight ballast tank of the dynamic center of gravity compensation module can move back and forth along the mass sliding guide structure to change the center of gravity position of the underwater vehicle, and adjust the buoyancy by internal pumping or dewatering, so that the mass compensation counterweight ballast tank can simultaneously complete attitude compensation and up-and-down buoyancy control.

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