A system for reducing pitch of a submersible marine vehicle

Abstract

The application provides a roll reduction system for a submersible and floatable marine vehicle, which comprises a pair of bow rudders, a sensing module and a control module electrically connected with the sensing module, the bow rudders are fixed on the head of the submersible and floatable marine vehicle, the sensing module and the control module are fixed on the submersible and floatable marine vehicle, the sensing module is used for sensing angle data of the submersible and floatable marine vehicle when the submersible and floatable marine vehicle is sailing underwater, and the angle data is transmitted to the control module, the control module determines the posture of the submersible and floatable marine vehicle according to the angle data, and the control module controls the rudder engine of the bow rudder to generate a downward pressure which can balance the lifting force of the submersible and floatable marine vehicle. The roll reduction system for the submersible and floatable marine vehicle is simple in structure and fast in response speed.

Description

Technical Field

[0001] This invention relates to the field of submersible marine vehicles, and more specifically, to a pitch reduction system for submersible marine vehicles. Background Technology

[0002] When a submersible vehicle is navigating underwater, the vertical asymmetry of the hull creates a dynamic pressure difference between the upper and lower parts, resulting in buoyancy. The higher the speed, the greater the buoyancy. The presence of buoyancy makes it difficult for the submersible vehicle to maintain stable underwater navigation, and it is prone to "jumping" phenomenon, which is detrimental to the stability control of the submersible vehicle.

[0003] When a submersible vehicle navigates underwater, the pressure difference created by water flowing over its upper and lower sections is similar to the lift generated by an airfoil. Structurally, the asymmetry in the shape of the upper and lower shells is the fundamental reason for its lift. This difference in shape is the primary cause of the vehicle's self-lift, the magnitude of which varies with its speed. Furthermore, underwater currents affect the submersible vehicle's horizontal trajectory, causing both the magnitude and direction of the self-lift to change. The horizontal component of the self-lift can shift forward or backward, resulting in pitching. This pitching motion causes the submersible vehicle to continuously change its direction of motion, creating a "jumping" effect in its movement.

[0004] Existing technologies primarily utilize anti-roll tanks to balance torque and reduce rolling. These are categorized into passive and active anti-roll tanks. Passive anti-roll tanks connect tanks near the midships area at the bottom with pipes, filling them with a suitable amount of water. The ship's own pitching motion causes the water in the tanks to move, generating a stabilizing torque. This method requires no power, hence the name "passive anti-roll tank." However, passive anti-roll tanks have several drawbacks: they rely on the transfer of water from ballast tanks to create a stabilizing torque. When pitching occurs, the restoring torque always needs to be formed before it can effectively suppress the pitch, resulting in a slow response. Furthermore, the restoring torque generated by passive anti-roll tanks always lags behind the moment pitching occurs, leading to a significant delay and a phase difference in balancing the pitching torque.

[0005] Active anti-roll tanks work by using angular velocity gyroscopes to sense the ship's pitch angular velocity, controlling a valve servo mechanism to regulate the valve opening, and using pumps to move water from one tank to another to establish a stable torque. Active anti-roll tanks require a lot of equipment, mainly including a control system, servo system, sensors for measuring water head or pressure in the tanks, water flow velocity sensors, high-power pumps, and a prime mover. However, the disadvantages of active anti-roll tanks are their complex structure, the large number of devices involved, and high cost, making them unsuitable for large-scale production applications. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a pitch reduction system for submersible marine vehicles that is simple in structure and has a fast response speed.

[0007] To solve the above problems, the technical solution of the present invention is as follows:

[0008] A roll reduction system for a submersible marine vehicle includes a pair of bow horizontal rudders, a sensing module, and a control module electrically connected to the sensing module. The bow horizontal rudders are fixed to the head of the submersible vehicle. The sensing module and the control module are fixed to the submersible vehicle. The sensing module is used to sense the angle data of the submersible vehicle when it is navigating underwater and transmits the angle data to the control module. The control module determines the attitude of the submersible vehicle based on the angle data. The control module generates downforce that can balance the lift of the submersible marine vehicle by controlling the servo motor of the bow horizontal rudders.

[0009] Optionally, the first horizontal rudder includes a stabilizer and a rotatable wingplate, the rotation angle of which is controlled by a servo to provide downforce that balances the lift of the submersible marine vehicle.

[0010] Optionally, the anti-roll system also includes a pair of tail horizontal rudders, which are fixed to the tail of the submersible vehicle and cannot be moved, and are used to work with the bow horizontal rudder to resist lift.

[0011] Optionally, the sensing module includes an inertial navigation system.

[0012] Optionally, the sensing module can continuously read the pitch angle, angular velocity, and angular acceleration data of the submersible vehicle during underwater navigation and transmit the data to the control module.

[0013] Compared with existing technologies, this invention has a simple structure, requires no additional equipment, and is relatively inexpensive. Furthermore, this invention has a fast response speed; once the rudder's servo motor receives instructions from the control module, it can quickly complete steering, adjusting the rudder angle to a suitable position, and can continue to adjust until the submarine's attitude stabilizes. Attached Figure Description

[0014] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0015] Figure 1 This is a schematic diagram of the pitch reduction system for a stealthy aircraft provided in an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of the front horizontal rudder structure provided in an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the tail horizontal rudder structure provided in an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the downward pressure balancing upward force provided in an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0020] This invention is specifically designed to address the instability caused by self-lift in aerodynamic vehicles with asymmetrical structures. Firstly, the design and arrangement of the horizontal rudder differ from existing aerodynamic vehicles. Secondly, it incorporates sensing and control modules, combined with effective control algorithms, to achieve real-time autonomous dynamic adjustments, thereby reducing roll and increasing stability.

[0021] Specifically, Figure 1 A schematic diagram of a pitch reduction system for a stealthy aircraft provided in an embodiment of the present invention is shown below. Figure 1 As shown, the anti-roll system for the submersible vehicle includes a pair of bow horizontal rudders 1, a pair of tail horizontal rudders 2, a sensing module 3, and a control module 4 electrically connected to the sensing module 3. The bow horizontal rudders 1 are fixed to the nose of the submersible vehicle and include a stabilizing surface and rotatable winglets; the rotation angle of the winglets can be controlled by a servo motor. The tail horizontal rudders 2 are fixed at a specific angle to a complete stabilizing surface at the tail of the submersible vehicle and are immovable, used to cooperate with the bow horizontal rudders 1 to resist lift. The sensing module 3 and the control module 4 are fixed to the submersible vehicle. The sensing module 3 is used to sense the angle data of the submersible vehicle during underwater navigation and transmit the angle data to the control module 4.

[0022] When a submersible vehicle is submerged, it experiences upward lift, which is detrimental to its underwater navigation. Initially, adjusting the angle of a pair of bow horizontal rudders 1 can provide downforce to counteract the lift, but this also increases longitudinal drag. In this embodiment, by adjusting the optimal position and angle of the horizontal rudders, the buoyancy is counteracted while minimizing drag. Experimental studies have shown that for submersible vehicles with horizontal rudders, the freely adjustable bow horizontal rudders 1 play a primary role in counteracting lift, while the fixed tail horizontal rudders 2 have a secondary effect. Furthermore, different angle combinations have varying effectiveness in counteracting lift. Additionally, the addition of the tail horizontal rudder 2 increases the drag of the submersible vehicle underwater, but this increase is limited to an acceptable range; that is, stable navigation is achieved at the cost of a certain increase in drag.

[0023] The sensing module 3 includes an inertial navigation system. The sensing module 3 can continuously read data such as pitch angle, angular velocity, and angular acceleration of the submersible vehicle during its underwater movement and transmit this data to the control module 4. The control module 4 determines the attitude of the submersible vehicle based on this data. For example, if the lift force causes the vehicle to pitch up, the sensing module 3 will detect the change in pitch angle and angular velocity and transmit the data to the control module 4. The control module 4 will issue control commands to the servo motor of the first horizontal rudder 1 through a suitable control algorithm to generate downward pressure, balance the influence of the submersible vehicle's lift force, and thus promptly eliminate the influence of the lift force on the attitude of the submersible vehicle, improving the stability of the submersible vehicle's underwater navigation.

[0024] This invention achieves stable underwater navigation for a submersible vehicle by employing a sensing module 3, a control module 4, a pair of bow horizontal rudders 1, and a pair of tail horizontal rudders 2 working together, as well as a structural design for the bow horizontal rudder 1 with adjustable angle.

[0025] Compared with existing technologies, this invention has a simple structure, requires no additional equipment, and is relatively inexpensive. Furthermore, this invention has a fast response speed; once the rudder's servo motor receives instructions from the control module, it can quickly complete steering, adjusting the rudder angle to a suitable position, and can continue to adjust until the submarine's attitude stabilizes.

[0026] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A roll reduction system for a submersible marine vehicle, the system comprising: The anti-pitching system comprises a pair of bow horizontal rudders, a sensing module and a control module electrically connected with the sensing module, the bow horizontal rudders are fixed on the head of the submersible vehicle, the sensing module and the control module are fixed on the submersible vehicle, the sensing module is used for sensing the angle data of the submersible vehicle when it is sailing underwater, and the angle data is transmitted to the control module, the control module determines the posture of the submersible vehicle according to the angle data, and the control module generates the downward pressure of the self-lifting force of the submersible vehicle by controlling the rudder engine of the bow horizontal rudders; The bow horizontal rudders comprise stabilizers and wing plates with rotatable angles, and the downward pressure of the self-lifting force of the submersible vehicle is provided by controlling the rotation angles of the wing plates through the rudder engine; The anti-pitching system further comprises a pair of tail horizontal rudders, the tail horizontal rudders are fixed on the tail of the submersible vehicle and are not movable, and are used for resisting the self-lifting force in cooperation with the bow horizontal rudders.

2. The anti-heel system for a submersible marine vehicle of claim 1, wherein, The sensing module comprises an inertial navigation machine.

3. The anti-heel system for a submersible marine vehicle of claim 2, wherein, The sensing module can read the pitch angle, angular velocity and angular acceleration data of the submersible vehicle when it is sailing underwater at any time, and transmit the data to the control module.

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