An unmanned ship heading stabilizing device and maneuverability dynamic adjusting method

Abstract

The application relates to an unmanned ship heading stabilizing device and a maneuvering dynamic adjusting method. The device is composed of two groups of symmetrical stabilizing structures. The two groups of stabilizing structures are installed on the left and right sides of the stern of the ship body. The stabilizing structure comprises a stabilizing fin and a stabilizing fin up-down movement driving mechanism. The stabilizing fin up-down movement driving mechanism comprises a hydraulic oil cylinder, a shearing type lifting mechanism driven by the hydraulic cylinder, a lower end of the lower part of the shearing type lifting mechanism is hingedly connected to a lower fixed support, the lower fixed support is fixed on the bottom plate of the ship body, the other end of the lower part of the shearing type lifting mechanism is hingedly connected to the upper end of a hydraulic sliding block, the lower part of the hydraulic sliding block is in sliding fit with a lower sliding rod; one end of the upper part of the shearing type lifting mechanism is hingedly connected to the lower part of an upper fixed support, the other end of the upper part of the shearing type lifting mechanism is hingedly connected to the lower part of a support rod sliding block, the upper part of the support rod sliding block is in sliding fit with an upper sliding rod; an electromagnet is fixed on one side of the upper end of the stabilizing fin, and the electromagnet is vertically aligned with an electromagnetic absorbing plate. The application can realize accurate control of the maneuverability of the ship.

Description

TECHNICAL FIELD

[0001] The present application belongs to the overall field of surface warships, and particularly relates to a unmanned ship heading stabilization device and a maneuvering dynamic adjustment method. BACKGROUND

[0002] The unmanned ship as a surface autonomous navigation carrier platform is increasingly widely applied in military and civilian fields, and with the improvement of the navigation requirements of the unmanned ship in various fields, the unmanned ship navigation needs to adapt to dynamic and variable external interference and similar and diverse task requirements. The maneuvering of the unmanned ship is the basis of navigation control, and the unmanned ship with good maneuvering can not only stably maintain the heading, but also quickly change the heading. The maneuvering of the unmanned ship is mainly determined by the state of the ship itself, and it is difficult to meet the navigation requirements of different tasks through the navigation control algorithm.

[0003] The unmanned ship with insufficient heading stability is prone to side slip, cross drift, spin and other movements under the interference of wind, wave and current. Under the navigation control, frequent yaw, large-angle deviation and other phenomena are prone to occur, which causes deviation from the planned route and must be tracked by frequent steering. The larger heading stability of the unmanned ship causes insufficient maneuverability, which is manifested as slow steering response, difficult turning, large turning area and time lag, overshoot and other phenomena under the navigation control. The turning and stability of the ship body are contradictory. The ship with insufficient stability has difficulty in navigation control, and the ship with too good stability has a large turning area. Therefore, the maneuvering needs to be considered according to the task of the ship. The maneuvering performance of the current ship is limited by the ship body design. The maneuvering is fixed after the ship body design and construction. The adjustment of the maneuvering through the adjustment of the ballast and the floating state is limited and is prone to cause other navigation problems. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art, and to provide a unmanned ship heading stabilization device which can dynamically adjust the maneuvering of the ship, realize the dynamic adaptation of the unmanned ship in the special water area with turning constraints, and meet the dynamic requirements of the navigation control on the heading stability.

[0005] One of the above purposes of the present application is achieved by the following technical scheme:

[0006] A unmanned ship heading stabilization device, characterized in that: the stabilization device is composed of two groups of symmetrical stabilization structures; the two groups of stabilization structures are installed on the left and right sides of the stern of the ship body;

[0007] The stabilization structure comprises a stabilization fin and a stabilization fin up-down movement driving mechanism; an electromagnet is fixed on one side of the upper end of the stabilization fin; an electromagnetic suction plate is arranged at the upper end of the stabilization fin up-down movement driving mechanism, and the electromagnet and the electromagnetic suction plate are vertically aligned;

[0008] When the ship is in normal sailing condition, the electromagnetic chuck is attracted to the electromagnet by electromagnetic force; the stabilizing fin up and down movement drive mechanism drives the stabilizing fin to move up and down.

[0009] When the hull touches the bottom, the stabilizing fin is subjected to force, causing the electromagnetic chuck to detach from the electromagnet.

[0010] Furthermore, the stabilizing fin's up-and-down movement drive mechanism includes a hydraulic cylinder, a scissor-lift mechanism composed of several lifting rods connected by hinges, a hydraulic slider, a support rod slider, a lower sliding rod, an upper sliding rod, the electromagnetic chuck, and the electromagnet. The hydraulic cylinder is fixed to the hull bottom plate longitudinally along the hull via a base. The lower sliding rod is fixed to the base longitudinally. The scissor-lift mechanism is positioned above the hydraulic cylinder, with one lower end hinged to a lower fixed support. The lower fixed support is fixed to the hull bottom plate. The lower end of the scissor lift mechanism is hinged to the upper end of the hydraulic slider, and the lower part of the hydraulic slider is slidably engaged with the lower slide rod; the hydraulic slider is fixedly connected to the push rod end of the hydraulic cylinder; the upper slide rod is fixedly fixed to the upper fixed support along the longitudinal direction of the hull, and the upper fixed support is fixedly connected to the lower end of the electromagnetic suction plate; one upper end of the scissor lift mechanism is hinged to the lower part of the upper fixed support, and the other upper end of the scissor lift mechanism is hinged to the lower part of the support rod slider, and the upper part of the support rod slider is slidably engaged with the upper slide rod.

[0011] Moreover, the bottom profile of the stabilizing fin gradually rises towards the bow, forming a smooth transition shape.

[0012] The second objective of this invention is achieved through the following technical solution:

[0013] A method for dynamically adjusting the maneuverability of an unmanned surface vessel (USV) based on the aforementioned unmanned surface vessel (USV) heading stabilization device is characterized by: dynamically adjusting the vertical position of the stabilizing fin by adjusting the extension and retraction of the hydraulic cylinder rod in the USV heading stabilization device, thereby dynamically adjusting the values ​​of the vessel's turning index K and following index T, and achieving the purpose of dynamically adjusting the vessel's maneuverability; including the following steps:

[0014] Step 1: Determine the vessel's navigation stability and turning performance using the first-order maneuvering response equation:

[0015]

[0016] In the formula, T—ship following index; K—ship turning index; r—ship turning angular velocity; δ—ship rudder angle. — Angular acceleration of the vessel;

[0017] The changes in angular velocity during the steering of a boat are as follows:

[0018]

[0019] In the formula, e is the natural logarithm; t1 is the steering time; t is the time; and δ is the steering time. max —Maximum rudder angle.

[0020] When t→∞

[0021] r = Kδ max =V / R0

[0022] In the formula, R0 is the turning radius; V is the speed of the vessel.

[0023] Step 2: Based on the current vessel speed V, the turning radius R0 (reflecting the vessel's maneuverability), and the maximum rudder angle δ... max The required turning index K of the boat can be calculated.

[0024] K=V / (R0·δ max )

[0025] Step 3: The functional relationships between the vessel's following performance index T and slewing index K and the hydraulic cylinder rod extension d were obtained through various methods, including model tests, tank tests, and full-scale ship tests, as follows:

[0026] d = f d (L,V,K)

[0027] In the formula, L is the length of the boat, and f is the length of the boat. d —The extension / retraction d of the cylinder rod is a function of the boat length L, boat speed V, and turning index K. Based on the above, the value of the boat's turning index K can be dynamically adjusted through the stabilization device to achieve accurate control of the boat's maneuverability.

[0028] The advantages and positive effects of this invention are as follows:

[0029] 1. The stabilization device of the present invention adopts a combination of stabilizing fins and hydraulic stabilizing fin up-and-down movement drive mechanism. The stabilizing fins are adjusted by hydraulic drive, which can realize accurate control of ship maneuverability.

[0030] 2. The stabilizing fin of this invention is installed at the stern of the hull, bringing the entire device close to the engine room, which facilitates the connection of hydraulic power. At the same time, when the hull turns, the pivot point is at the bow, and the large drift angle at the stern can play a good role in adjusting the maneuverability. The left and right arrangement of the device makes it unaffected by the rolling of the hull.

[0031] 3. The bottom line of the stabilizing fin of this invention gradually rises towards the bow, forming a smooth transition shape to prevent collisions with navigational obstructions in the water;

[0032] 4. In this invention, the hydraulic slider is restricted by the sliding rod and can only move along the axial direction of the sliding rod, thus ensuring the working stability of the hydraulic mechanism;

[0033] 5. The electromagnet and the electromagnetic chuck of this invention are attracted by electromagnetic control. When the hull touches the bottom, the external force breaks through the magnetic force and disconnects the connection, which can effectively protect the stability of the course. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0035] Figure 2 This is a perspective view of the device of the present invention installed;

[0036] Figure 3 This is a side view of the device of the present invention being installed;

[0037] Figure 4 This is a front view of the device of the present invention before installation;

[0038] Figure 5 This is a rear view of the device of the present invention.

[0039] Figure 6 This is a schematic diagram of the working principle of the device of the present invention;

[0040] Figure 7 This is a comparison diagram of the heading stability of the device of the present invention under different states;

[0041] Figure 8 This is a comparison diagram of the heading and turning performance of the device of the present invention in different states. Detailed Implementation

[0042] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0043] A vessel heading stabilization device, please see [link / reference]. Figures 1-8 The invention is based on the following: the stabilizing device consists of two symmetrically arranged stabilizing structures, each of which includes a stabilizing fin 8 and a stabilizing fin up-and-down movement drive mechanism.

[0044] The stabilizing fin's vertical movement drive mechanism mainly includes a hydraulic cylinder 5, several lifting support rods 11, a hydraulic slider 10, a support rod slider 13, a lower sliding rod 9, an upper sliding rod 12, an electromagnetic chuck 1, and an electromagnet 14. The hydraulic cylinder is fixed longitudinally to the hull bottom plate 7 via a base. The lower sliding rod is fixed longitudinally to the base 6. Several lifting support rods are connected by hinges 3 to form a scissor-type lifting mechanism, positioned above the hydraulic cylinder. One lower end of the scissor-type lifting mechanism is hinged to a lower fixed support 4, which is fixed to the hull bottom plate. The other lower end of the scissor-type lifting mechanism is hinged to the upper end of the hydraulic slider. The lower part of the hydraulic slider slides in conjunction with the lower sliding rod. The hydraulic slider is fixedly connected to the push rod end of the hydraulic cylinder. The upper sliding rod is fixed longitudinally to an upper fixed support 2, which is fixedly connected to the lower end of the electromagnetic chuck. One upper end of the scissor lift mechanism is hinged to the lower part of the upper fixed support, and the other upper end of the scissor lift mechanism is hinged to the lower part of the support rod slider. The upper part of the support rod slider and the upper sliding rod form a sliding fit. The electromagnet is fixed to one side of the upper end of the stabilizing fin, and the electromagnet and the electromagnetic chuck are aligned vertically. Under normal conditions, the electromagnetic chuck is attracted to the electromagnet by electromagnetic force.

[0045] In this embodiment, the stabilizing fin is adjusted by extending and retracting vertically within the hull. The bottom profile of the stabilizing fin gradually rises towards the bow, forming a smooth transition shape. This effectively saves internal space and prevents damage to the device from grounding.

[0046] In this embodiment, the hydraulic slider is constrained by the sliding rod, and can only move along the axial direction of the sliding rod. When the external force of bottoming out and getting stuck is applied to the hydraulic mechanism through the scissor lifting mechanism, the sliding rod can effectively constrain the vertical movement of the hydraulic slider, protecting the push rod, including the hydraulic cylinder, from bending and deformation.

[0047] In this embodiment, the electromagnet is fixedly connected to the stabilizing fin and magnetically connected to the electromagnetic chuck. The attraction force is controlled by electromagnetic force. When the hull touches the bottom, the external force breaks through the magnetic force and disconnects the connection, which can effectively protect the device.

[0048] In this embodiment, the boat's heading stabilization device is installed at the stern of the hull 15. The right stabilizing fin 8b and the left stabilizing fin 8a are arranged on the left and right sides of the hull, respectively, so that the entire device is close to the engine room, which facilitates the connection of hydraulic power. At the same time, the left and right arrangement of the device makes it unaffected by the rolling of the hull.

[0049] In this embodiment, an unmanned vessel heading stabilization device can design the shape and installation position of the stabilizing fin according to the navigation mission requirements, and can be calculated through multiple methods such as numerical simulation, model testing, and empirical formulas.

[0050] In this embodiment, the stabilizing fin can be driven to move up and down by a hydraulic push rod, and the maneuverability value can be calculated by hydrodynamics to precisely control the extension and retraction position of the stabilizing fin.

[0051] The working process of this invention is as follows:

[0052] During the design phase, based on the hull shape and mission requirements of the unmanned vessel, hydrodynamic calculations are performed using techniques such as numerical simulation, model testing, and empirical formulas to determine the shape and installation location of the stabilizing fins.

[0053] During operation, the unmanned surface vessel (USV) determines its course stability based on mission requirements, thereby determining the extension / retraction length of the stabilizing fin. Hydraulic cylinders drive hydraulic push rods to move hydraulic sliders horizontally, which in turn drives a scissor lift mechanism for vertical movement. Simultaneously, a support rod slider moves along an upper slide rod according to the lifting distance. Ultimately, the scissor lift mechanism drives the electromagnetic chuck up and down. The electromagnetic chuck engages with the electromagnet through electromagnetic force, causing the stabilizing fin to move up and down to the set position. When the USV is subjected to external impact, the stabilizing fin transmits the force to the electromagnet. When the external force exceeds the electromagnetic attraction force, the electromagnetic chuck separates from the electromagnet, protecting the device from damage. Once the danger is eliminated, control commands drive hydraulic push rods to move the scissor lift mechanism, allowing the electromagnetic chuck to re-engage with the electromagnet and resume its maneuvering dynamic adjustment function.

[0054] like Figures 7-8 As shown, the navigation trajectories of the unmanned vessel's heading stabilization device are in three different states: state 1 is the middle state of the stabilization fin, state 2 is the higher state of the stabilization fin, and state 3 is the lower state of the stabilization fin. Figure 7 This refers to the navigation trajectory of an unmanned surface vessel after its course stabilizes following external disturbances caused by different stabilization device states. Figure 8 The turning trajectory of the unmanned vessel under different stabilization device states.

[0055] The invention point of the above-mentioned dynamic adjustment method for the heading stabilization device of unmanned vessels is as follows:

[0056] By adjusting the extension and retraction of the hydraulic push rod in the boat's stabilization device, the vertical position of the stabilizing fin can be dynamically moved, thereby dynamically adjusting the values ​​of the boat's turning index K and following index T, ultimately achieving the purpose of dynamically adjusting the boat's maneuverability.

[0057] The specific implementation method is as follows:

[0058] The coefficients K and T of the first-order maneuvering response equation of a vessel comprehensively reflect its maneuverability. Since K and T are uniquely determined for the position of the stabilizing fin, and their trends change in the same direction with the vertical position of the stabilizing fin, the turning radius at the maximum rudder angle can be determined according to mission requirements, thus adjusting the vessel's maneuverability. The steps include:

[0059] (1) Determine the ship's navigation stability and turning performance by using the ship's first-order maneuver response equation:

[0060]

[0061] In the formula, T—ship following index; K—ship turning index; r—ship turning angular velocity; δ—ship rudder angle. — Angular acceleration of a boat or vessel.

[0062] The changes in angular velocity during the steering of a boat are as follows:

[0063]

[0064] In the formula, e is the natural logarithm; t1 is the steering time; t is the time; and δ is the steering time. max —Maximum rudder angle.

[0065] When t→∞

[0066] r = Kδ max =V / R0

[0067] In the formula, R0 is the turning radius; V is the speed of the vessel.

[0068] (2) Based on the current vessel speed V, the turning radius R0 which reflects the vessel's maneuverability, and the vessel's maximum rudder angle δ max The required turning index K of the boat can be calculated.

[0069] K=V / (R0·δ max )

[0070] Since K and T are determined simultaneously, once K is determined, T is also uniquely determined.

[0071] (3) The functional relationships between the vessel's following index T and slewing index K and the extension / retraction d of the hydraulic push rod can be obtained through various methods, including model tests, tank tests, and full-scale ship tests.

[0072] d = f d (L,V,K)

[0073] In the formula, L is the length of the boat, and f is the length of the boat. d —The extension / retraction d of the hydraulic push rod is a function of the boat length L, boat speed V, and slewing index K.

[0074] The value of the boat's turning index K can be dynamically adjusted by the stabilization device, thereby enabling accurate control of the boat's maneuverability.

[0075] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, alterations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A method for dynamically adjusting the maneuverability of an unmanned surface vessel, characterized in that: The unmanned vessel maneuverability dynamic adjustment method is based on an unmanned vessel heading stabilization device consisting of two symmetrically arranged stabilization structures; the two stabilization structures are installed on the left and right sides of the stern of the vessel. The stabilizing structure includes a stabilizing fin and a stabilizing fin up-and-down movement drive mechanism; an electromagnet is fixed to one side of the upper end of the stabilizing fin; an electromagnetic chuck is provided at the upper end of the stabilizing fin up-and-down movement drive mechanism, and the electromagnet and the electromagnetic chuck are aligned vertically. When the ship is in normal sailing condition, the electromagnetic chuck is attracted to the electromagnet by electromagnetic force; the stabilizing fin up and down movement drive mechanism drives the stabilizing fin to move up and down. When the hull touches the bottom, the stabilizing fin is subjected to force, causing the electromagnetic chuck to detach from the electromagnet; The aforementioned dynamic adjustment method for the maneuverability of the unmanned vessel dynamically adjusts the vertical position of the stabilizing fin by adjusting the extension and retraction of the cylinder rod in the hydraulic cylinder of the unmanned vessel's heading stabilization device, thereby achieving the dynamic movement of the vessel's turning index. and follower index The dynamic adjustment of the value achieves the purpose of dynamic adjustment of the vessel's maneuverability; including the following steps: Step 1: Determine the vessel's navigation stability and turning performance using the first-order maneuvering response equation: ; In the formula, —Boat following index; —Boat turning index; —The turning angular velocity of the boat; —Boat rudder angle — Angular acceleration of the vessel; The changes in angular velocity during the steering of a boat are as follows: ; In the formula, —Natural logarithm; —Time to steer; -time; —Maximum rudder angle; when hour ; In the formula, —Radius of gyration; —Speed ​​of the vessel; Step 2: Based on the current speed of the boat Turning radius, which reflects the maneuverability of a vessel Maximum rudder angle of the vessel The required turning index of the boat can be calculated. , ; Step 3, Boat Follow-up Index and slew rate Extension and retraction of the cylinder rod of the hydraulic cylinder The functional relationships were obtained through various methods, including model tests, tank tests, and full-scale ship tests, as follows: ; In the formula, —Boat length, —Cylinder rod extension / retraction With boat length Ship speed , Turnover Index The function allows for dynamic adjustment of the boat's turning index via a stabilizing device. The value enables precise control of the boat's maneuverability.

2. The method for dynamically adjusting the maneuverability of an unmanned vessel according to claim 1, characterized in that: The stabilizing fin's up-and-down movement drive mechanism includes a hydraulic cylinder, a scissor-type lifting mechanism consisting of several lifting rods connected by hinges, a hydraulic slider, a support rod slider, a lower sliding rod, an upper sliding rod, the electromagnetic chuck, and the electromagnet. The hydraulic cylinder is fixed to the hull bottom plate longitudinally along the hull via a base. The lower sliding rod is fixed to the base longitudinally. The scissor-type lifting mechanism is positioned above the hydraulic cylinder, with one lower end hinged to a lower fixed support. The lower fixed support is fixed to the hull bottom plate. The lower end of the lifting mechanism is hinged to the upper end of the hydraulic slider, and the lower part of the hydraulic slider is slidably engaged with the lower slide rod; the hydraulic slider is fixedly connected to the push rod end of the hydraulic cylinder; the upper slide rod is fixedly fixed to the upper fixed support along the longitudinal direction of the hull, and the upper fixed support is fixedly connected to the lower end of the electromagnetic suction plate; one end of the upper part of the scissor lifting mechanism is hinged to the lower part of the upper fixed support, and the other end of the upper part of the scissor lifting mechanism is hinged to the lower part of the support rod slider, and the upper part of the support rod slider is slidably engaged with the upper slide rod.

3. The method for dynamically adjusting the maneuverability of an unmanned vessel according to claim 1, characterized in that: The bottom profile of the stabilizing fin gradually rises towards the bow, forming a smooth transition shape.

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