A displacement-angle measuring mechanism for a two-degree-of-freedom composite motion underwater vehicle

Abstract

The present invention discloses a technical field of underwater vehicle test flow field measurement, including a fixed bracket connected to a trailer side bridge and located above the underwater vehicle; a horizontal slide is located directly below the fixed bracket, and the controlled lateral movement of the underwater vehicle is achieved by driving an aerial turntable; a dial is located directly below the large aerial turntable, and the center is connected to a resistance sliding pointer through a bearing; a light slide is fixed to the bottom of the horizontal slide by bolts, and the position of the light slide is adjusted to control the longitudinal movement of the underwater vehicle; a displacement sensor slide base is connected to a support rod; a laser receiver is fixed to one end of the support rod, a laser transmitter emits laser, which is received by the laser receiver, and the receiver converts the received optical signal into an electrical signal, and transmits the electrical signal to a laser angle sensing system through a current transmission cable. The present invention realizes real-time monitoring of the displacement angle and improves the accuracy of the underwater vehicle flow field test experiment.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicle test flow field measurement, and in particular relates to a displacement-angle measurement mechanism for an underwater vehicle with a composite motion of two degrees of freedom in longitudinal and transverse directions. Background Art

[0002] With the rapid development of new equipment and technology, the requirements for the comprehensive performance of underwater vehicles are getting higher and higher. The maneuverability and stealth performance of underwater vehicles are the basic performances to ensure the completion of their combat missions. In recent years, in addition to the weak maneuvering cruise state of underwater vehicles, the performance of underwater vehicles in strong maneuvering states such as large angle of attack, buoyancy, full rudder deflection and full-speed rotation has also received more and more attention. In strong maneuvering states, the boundary layer is more likely to fall off on the surface of the hull and appendages, causing more serious flow separation. In addition, there is usually a large incoming flow angle in strong maneuvering states, accompanied by the generation of lateral forces / torques whose directions and magnitudes are difficult to predict, which seriously affects the maneuverability of underwater vehicles in maneuvering states. In addition, due to the high intensity and weak dissipation of the detached vortex, when the detached vortex propagates to the appendage at the tail of the underwater vehicle, it interacts with the tail vortex of the appendage, aggravating the turbulent pulsation, viscosity effect and vortex motion of the flow field around the underwater vehicle, causing its surface pressure change and excitation force characteristics to become more complicated. Domestic and foreign research on the test of the flow field around underwater vehicles and the excitation force on their surface is mainly aimed at straight navigation, and few consider maneuvering states such as turning. However, the large number of separated vortices generated by the vehicle itself and the appendages in the maneuvering state are coupled with each other, which is a key factor in the noise performance of underwater vehicles. Therefore, it is particularly important to measure the flow field and excitation force in the turning maneuvering state.

[0003] The current mechanism for controlling the two degrees of freedom of the underwater vehicle in both longitudinal and lateral directions (patent application number: 202111626962.4) can achieve the control effect, but due to the large friction and air travel, it is impossible to accurately and real-time measure the longitudinal displacement and lateral rotation angle of the underwater vehicle during the test. Therefore, it is very important to form a set of accurate displacement and angle measurement mechanisms for the experimental research of the maneuvering state of underwater vehicles. Summary of the invention

[0004] The object of the present invention is to provide a displacement-angle measuring mechanism for a composite motion underwater vehicle with two degrees of freedom in both longitudinal and transverse directions.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A displacement-angle measuring mechanism for a two-degree-of-freedom composite motion underwater vehicle, comprising a fixed bracket, a horizontal slide table, a graduated plate, a displacement sensor slide rail base, bolts, a servo motor, a support rod, a laser receiver, a laser transmitter, a laser angle sensor system, a resistance sliding pointer, and a light slide rail;

[0007] The fixed bracket is connected to the trailer side bridge of the underwater vehicle with two degrees of freedom in longitudinal and transverse directions, and is located above the underwater vehicle;

[0008] The horizontal slide is located below the fixed bracket and drives the aerial turntable to achieve controlled lateral movement of the underwater vehicle;

[0009] The light rail is fixed under the horizontal slide table by bolts, connected to the aerial turntable and the servo motor, and the longitudinal movement of the underwater vehicle is controlled by adjusting the position of the aerial turntable on the light rail;

[0010] The lightweight slide rail is connected to a support rod, and the displacement sensor slide rail base is connected to the support rod;

[0011] The laser transmitter is fixed on the displacement sensor slide rail base, and the laser receiver is fixed on one end of the support rod. When the displacement sensor slide rail base starts to move, the laser transmitter emits laser light, which is received by the laser receiver. The laser receiver converts the received optical signal into an electrical signal, and transmits the electrical signal to the laser angle sensor system through the current transmission cable.

[0012] The scale plate is located directly below the aerial turntable, with two ends connected to the two ends of the circuit, and the center is connected to the resistance sliding pointer through a bearing.

[0013] Furthermore, the servo motor is fixed to a side of the light slide rail close to the laser receiver to provide power for the aerial turntable.

[0014] Furthermore, the movement sensor slide rail base has built-in balls.

[0015] The beneficial effects of the present invention are:

[0016] 1. Improved the accuracy of underwater vehicle maneuvering state experimental measurement.

[0017] 2. Effectively reduce the displacement and angle measurement errors caused by friction, mechanical collision, idle travel and other problems.

[0018] 3. Effectively reduce the operational difficulty during the experiment and facilitate the implementation of the experiment.

[0019] 4. It has closed-loop control and can achieve precise control of motion properties through data feedback.

[0020] 5. All parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a top view of the mechanism of the present invention;

[0022] Figure 2 It is a left side view of the mechanism of the present invention;

[0023] Figure 3 It is a view of the mechanism axis of the present invention;

[0024] Figure 4 It is a schematic diagram of the right motor of the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] Combination Figures 1 to 3 This is a top view of the present invention, a displacement-angle measuring device platform for a two-degree-of-freedom composite motion underwater vehicle includes: a fixed bracket 1, a horizontal slide 2, a dial 3, a displacement sensor slide rail base 4, bolts 5, a servo motor 6, a support rod 7, a laser receiver 8, a laser transmitter 9, a laser angle sensing system 10, a current transmission cable 11, a resistance sliding pointer 12, and a lightweight slide rail 13.

[0027] The fixed bracket 1 is connected to the side bridge of the trailer and is located above the underwater vehicle. The test waters of the underwater vehicle can be changed by adjusting the position of the fixed bracket 1. The horizontal slide 2 is located directly below the fixed bracket 1, and the controlled lateral movement of the underwater vehicle is achieved by driving the large aerial turntable. The dial 3 is located directly below the large aerial turntable, with both ends connected to the two ends of the circuit, and the center is connected to the resistance sliding pointer 12 through a bearing. When the aerial turntable rotates an angle, the resistance sliding pointer 12 is driven to rotate by the bearing. Due to the rotation of the resistance sliding pointer 12, the resistance in the connected circuit changes. The changed resistance is transmitted to the laser angle sensing system 10 in the form of an electrical signal through the current transmission cable 11. After the digital signal is processed, the rotation angle is displayed by a computer to realize real-time monitoring of the aerial turntable.

[0028] The light rail 13 is fixed to the bottom of the horizontal slide 2 by bolts 5, and plays the role of connecting the aerial turntable and the servo motor 6. By adjusting the position of the aerial turntable on the light rail 13, the longitudinal movement of the underwater vehicle is controlled. The displacement sensor rail base 4 is connected to the support rod 7. When the aerial turntable moves along the light rail 13, the displacement sensor rail base 4 is driven to move. At the same time, the displacement sensor rail base 4 has built-in balls to minimize friction and effectively avoid inaccurate displacement measurement caused by mechanical collision, blockage and jamming. The laser transmitter 9 is fixed on the displacement sensor rail base 4. The laser receiver 8 is fixed to one end of the support rod 7. When the displacement sensor rail base 4 starts to move, the laser transmitter 9 emits laser, which is received by the laser receiver 8. The laser receiver 8 converts the received optical signal into an electrical signal, and transmits the electrical signal to the laser angle sensor system 10 through the current transmission cable 11, thereby achieving real-time monitoring of the displacement change of the measured object. The servo motor 6 is fixed to one side of the light rail 13 to provide power for the movement of the aerial turntable.

[0029] The specific usage process is as follows:

[0030] When the underwater vehicle is connected to the lower part of the aerial turntable, the longitudinal displacement of the underwater vehicle is achieved by changing the position of the aerial turntable on the light rail 13. However, due to mechanical collision, blockage, and jamming, the displacement measurement is difficult. In order to accurately measure the longitudinal displacement of the underwater vehicle and reduce the mechanical friction during sliding, a displacement sensor with a built-in ball is added to the light rail 13. The acquired optical signal change is converted into an electrical signal change through the laser transmitter 9 and the laser receiver 8, and the displacement change is measured in real time through the laser angle sensing system 10. The rotation of the aerial turntable realizes the lateral rotation of the underwater vehicle, but due to the phenomenon of empty distance, the angle is difficult to obtain accurately. Therefore, the pointer of the dial 3 is coaxially connected under the aerial turntable, and the two sides of the dial 3 are connected to the circuit. When rotating, the resistance sliding pointer 12 is driven to rotate, changing the resistance in the connected circuit. The rotation angle of the aerial turntable is accurately measured by the change in the strength of the electrical signal. The acquired electrical signal is transmitted to the laser angle sensing system 10 through the current transmission line 11, and the angle change is displayed in real time on the computer, which is convenient for real-time monitoring of the aerial turntable.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A displacement-angle measurement mechanism for a two-degree-of-freedom composite motion underwater vehicle. Features: It includes a fixed bracket (1), a horizontal slide table (2), a dial (3), a displacement sensor slide rail base (4), bolts (5), a servo motor (6), a support rod (7), a laser receiver (8), a laser transmitter (9), a laser angle sensor system (10), a resistance sliding pointer (12), and a light slide rail (13); The fixed bracket (1) is connected to the trailer side bridge of the underwater vehicle with two-degree-of-freedom composite motion in longitudinal and transverse directions, and is located above the underwater vehicle; The horizontal slide (2) is located below the fixed bracket (1) and drives the aerial turntable to achieve controlled lateral movement of the underwater vehicle; The light rail (13) is fixed below the horizontal slide (2) by bolts (5), connected to the aerial turntable and the servo motor, and the longitudinal movement of the underwater vehicle is controlled by adjusting the position of the aerial turntable on the light rail (13); The lightweight slide rail (13) is connected to a support rod (7), and the displacement sensor slide rail base (4) is connected to the support rod (7); The laser transmitter (9) is fixed on the displacement sensor slide rail base (4), and the laser receiver (8) is fixed on one end of the support rod (7). When the displacement sensor slide rail base (4) starts to move, the laser transmitter (9) emits laser light, which is received by the laser receiver (8). The laser receiver (8) converts the received optical signal into an electrical signal, and transmits the electrical signal to the laser angle sensor system (10) through the current transmission cable (11); The scale plate (3) is located directly below the aerial turntable, with two ends connected to the two ends of the circuit, and the center is connected to the resistance sliding pointer (12) through a bearing.

2. A displacement-angle measuring mechanism for a two-degree-of-freedom composite motion underwater vehicle according to claim 1, Features: The servo motor (6) is fixed to a side of the light slide rail (13) close to the laser receiver (8) to provide power for the aerial turntable.

3. A displacement-angle measuring mechanism for a two-degree-of-freedom composite motion underwater vehicle according to claim 1, Features: The movement sensor slide rail base (4) has a built-in ball bearing.

Images