Variable-attack-angle placoid scale structure applied to underwater naval vessel and control method of variable-attack-angle placoid scale structure

Abstract

The invention belongs to the technical field of bionic sharkskin design application, and discloses a variable-attack-angle placoid scale structure applied to an underwater naval vessel and a control method thereof, and the variable-attack-angle placoid scale structure comprises an underwater naval vessel body, a placoid scale structure assembly, a central control unit and a sensing system assembly; the shield scale structure assembly is arranged on the front portion of the advancing direction of the underwater naval vessel body and comprises an attack angle adjusting platform, a shield scale foundation pillar and a bionic shield scale piece. The sensing system assembly comprises a pressure sensor, a speed sensor and a turbulence intensity sensor; the central control unit is connected with the pressure sensor, the speed sensor, the turbulence intensity sensor and the attack angle adjusting platform through wireless signals. A shield scale structure capable of adjusting the attack angle is applied to the outer surface of an underwater naval vessel, and an intelligent control system is combined, so that the shield scale sheet can adaptively adjust the attack angle according to real-time environment change, and therefore, water flow distribution is optimized, water flow resistance is reduced, and the stability of an underwater vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic shark skin design applications, and particularly to a variable angle of attack dermal denticle structure applied to underwater vessels and its control method. Background Art

[0002] With the development of modern underwater vessel technology, the requirements for the hydrodynamic performance of underwater vehicles are constantly increasing. When an underwater vessel performs tasks, it needs to take into account various requirements such as speed, stability, maneuverability, and energy efficiency. However, the currently commonly used bionic shark scale structures, although having certain hydrodynamic advantages, such as reducing water flow resistance and decreasing the turbulence effect, usually work under fixed angle of attack conditions and lack the ability to adapt to environmental changes.

[0003] In complex water areas, such as variable environments like ocean currents and turbulence, the hydrodynamic performance of underwater vessels may decrease significantly, affecting their navigation efficiency and stability. Therefore, how to achieve dynamic adjustment of the angle of attack of dermal denticles and thereby optimize the hydrodynamic performance of underwater vessels has become an important research issue in the design of underwater vehicles. Summary of the Invention

[0004] In order to solve the problem that the bionic shark scales in the above-mentioned prior art lack the ability to adapt to environmental changes, the present invention proposes a variable angle of attack dermal denticle structure applied to underwater vessels and its control method. By designing a dermal denticle structure with adjustable angle of attack on the outer surface of an underwater vessel and combining an intelligent control system, the dermal denticle scales can adaptively adjust the angle of attack according to real-time environmental changes, thereby optimizing the distribution of water flow, reducing water flow resistance, increasing the speed and stability. This control method can achieve adaptive adjustment of an underwater vessel in a complex water flow environment, improve navigation efficiency, save energy, and increase the maneuverability of the vessel.

[0005] The present invention is realized through the following technical solutions: It includes an underwater vessel body, and further includes a dermal denticle structure assembly arranged in an array along the circumferential direction and the length direction of the underwater vessel body, a central control unit arranged in the middle of the underwater vessel body, and a sensing system assembly arranged on the surface of the underwater vessel body; the dermal denticle structure assembly is arranged at the front of the underwater vessel body in the traveling direction, and includes an angle of attack adjustment platform built in the underwater vessel body, a dermal denticle base column rotatably connected to the angle of attack adjustment platform, and a bionic dermal denticle scale fixedly connected to the dermal denticle base column; the sensing system assembly includes a pressure sensor arranged at the front end of the dermal denticle structure assembly, a speed sensor and a turbulence intensity sensor arranged in sequence between the dermal denticle structure assembly and the central control unit; the central control unit is wirelessly connected to the pressure sensor, the speed sensor, the turbulence intensity sensor, and the angle of attack adjustment platform respectively.

[0006] As a further preference, the angle of attack adjustment platform includes a processor, a servo motor and a hinge. The processor and the servo motor are connected by a signal line; the processor and the central control unit are connected by a wireless signal; a transmission shaft is arranged at the connection part between the placoid scale basal column and the angle of attack adjustment platform, and both ends of the hinge are sleeved on the transmission shaft and the output end of the servo motor respectively.

[0007] As a further preference, the surface of the bionic placoid scale is sprayed with an epoxy resin drag reduction coating.

[0008] As a further preference, the bionic placoid scale, the placoid scale basal column, the transmission shaft and the hinge are all made of organic polymer materials.

[0009] As a further preference, the central control unit is internally provided with a remote control module, and the remote control module is connected with the mother ship by a wireless signal.

[0010] As a further preference, the speed sensor and the turbulence intensity sensor are arranged directly in front of the central control unit.

[0011] The present invention also provides a control method applicable to the variable angle of attack placoid scale structure for underwater ships described in the present invention, including the following steps:

[0012] S1. Data acquisition is carried out through the sensing system assembly to respectively obtain the oncoming flow velocity U, the surface pressure P of the underwater ship body and the turbulence intensity ω; the acquired data is transmitted to the central control unit through a wireless signal;

[0013] S2. Based on the acquired data, the central control unit performs data processing and analysis to obtain the real-time viscous drag coefficient C f测 and the pressure drag coefficient C p测 ;

[0014] S3. The central control unit compares the oncoming flow velocity U, the real-time viscous drag coefficient C f测 and the pressure drag coefficient C p测 obtained in step S2 with the theoretical values to obtain the corresponding angle of attack adjustment instruction, and sends it to the processor to obtain the changed angle of attack θ of the placoid scale; the processor then controls the servo motor to drive the hinge to rotate, thereby driving the transmission shaft to rotate, and finally driving the placoid scale basal column to tilt forward or backward to adjust the angle of attack of the placoid scale.

[0015] As a further preference, the specific steps of step S2 are as follows:

[0016] S21. According to the wall shear stress and the oncoming flow velocity, the real-time viscous drag coefficient C f测 is obtained, and the formula is as follows:

[0017]

[0018] Where τ is the wall shear stress; ρ is the liquid density; U is the incoming flow velocity; μ is the liquid viscosity coefficient; is the velocity gradient;

[0019] S22. Obtain the real-time pressure coefficient C p测 according to the surface pressure and the incoming flow velocity of the underwater vehicle body, and the formula is as follows:

[0020]

[0021] Where P is the surface pressure of the underwater vehicle body; ρ is the liquid density; U is the incoming flow velocity.

[0022] As a further preference, the specific steps of step S3 are as follows:

[0023] S31. The central control unit compares the real-time viscous drag coefficient C f测 and the pressure drag coefficient C p测 obtained in step S2 with the theoretical values. If the incoming flow velocity U is in the low-speed state of 1-3 m / s and the real-time viscous drag coefficient is greater than the theoretical viscous drag coefficient, the central control unit sends an instruction to increase the angle of attack to the processor; if the incoming flow velocity U is in the high-speed state greater than 3 m / s and the real-time pressure drag coefficient is greater than the theoretical pressure drag coefficient, the central control unit sends an instruction to decrease the angle of attack to the processor; otherwise, the central control unit does not send an instruction to adjust the angle of attack;

[0024] S32. The processor obtains the variable angle of attack θ(t) according to the instruction sent in step S31 and the following formula:

[0025] θ = θ0 + θ(t)

[0026]

[0027] e(t) = ω 测 - ω 理

[0028] Where θ is the angle of attack of the dermal denticles; θ0 is the initial angle of attack; θ(t) is the variable angle of attack; e(t) is the tolerance; K P 、K i 、K d are the corresponding proportional, integral and differential coefficients; ω 测 is the real-time turbulence intensity; ω 理 is the theoretical turbulence intensity;

[0029] S33. The processor makes a judgment based on the adjustment instruction issued in step S31 and the changing angle of attack θ(t) obtained in step S32. If in the low-speed state, 5° ≤ θ(t) ≤ 10° or in the high-speed state, -2° ≤ θ(t) ≤ 4°, then step S34 is executed; otherwise, the changing angle of attack θ(t) is recalculated.

[0030] S34. Obtain the number of turns and direction of rotation of the servo motor based on the changing angle of attack θ(t) obtained in step S32, and send them to the servo motor. The formula is as follows:

[0031]

[0032] In the formula, N is the number of turns the servo motor needs to rotate; i is the transmission ratio.

[0033] S35. The servo motor drives the hinge to rotate, thereby driving the transmission shaft to rotate, and finally driving the dermal denticle base column to tilt forward or backward to adjust the dermal denticle angle of attack.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] The present invention proposes a variable angle of attack dermal denticle structure and its control method applied to underwater vessels. By applying a dermal denticle structure with an adjustable angle of attack on the outer surface of an underwater vessel and combining it with an intelligent control system, the dermal denticle scales can adaptively adjust the angle of attack according to real-time environmental changes, thereby optimizing the distribution of water flow, reducing water flow resistance, and improving the stability of the underwater vehicle. The angle of attack refers to the inclination angle of the dermal denticle relative to the water flow direction. By changing the angle of attack, the direction, speed, and flow pattern of the water flow can be affected. Generally, a smaller angle of attack can reduce water flow separation, reduce turbulence and resistance; a larger angle of attack may generate lift or accelerate the water flow. By using the intelligent control system to adjust the angle of attack of each dermal denticle according to different navigation states, the effect of optimizing the hydrodynamic performance can be achieved. This control method can realize the adaptive adjustment of the underwater vessel in a complex water flow environment, improve the navigation efficiency, save energy, and increase the maneuverability of the underwater vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0037] Figure 2 It is a partially enlarged view of the structure of the dermal denticle assembly of the present invention.

[0038] Figure 3 It is a schematic diagram of the changing process of the increasing angle of attack of the dermal denticle assembly of the present invention.

[0039] Figure 4 It is a schematic diagram of the changing process of the decreasing angle of attack of the dermal denticle assembly of the present invention.

[0040] Figure 5Flowchart of the control method of the present invention.

[0041] Markings in the figure:

[0042] 1. Underwater ship body; 2. Sensing system component; 3. Placoid scale structure component; 4. Central control unit; 21. Pressure sensor; 22. Velocity sensor; 23. Turbulence intensity sensor; 31. Bionic placoid scale; 32. Placoid scale base column; 33. Angle of attack adjustment platform; 321. Transmission shaft; 331. Processor; 332. Servo motor; 333. Hinge. Detailed implementation manners

[0043] The advantages and characteristics of the present invention will be illustrated and explained through the non - restrictive description of the following preferred embodiments, which are given only as examples with reference to the accompanying drawings.

[0044] As Figure 1 and Figure 2 shown, the present invention provides a variable - angle - of - attack placoid scale structure applied to an underwater ship, including an underwater ship body 1, a sensing system component 2, a placoid scale structure component 3, and a central control unit 4. The sensing system component 2 includes a pressure sensor 21, a velocity sensor 22, and a turbulence intensity sensor 23. The pressure sensor 21 can be used to detect the pressure P on the surface of the underwater ship body 1 in real time; the velocity sensor 22 can be used to detect the oncoming flow velocity U in real time; and the turbulence intensity sensor 23 can detect the turbulence intensity ω in real time. The placoid scale structure component 3 includes: bionic placoid scales 31, placoid scale base columns 32, and an angle of attack adjustment platform 33. The placoid scale structure component 3 is fixed in the front - part area in the traveling direction of the underwater ship body 1 and is arranged in an array along the circumferential direction and the ship - length direction of the underwater ship body 1; the central control unit 4 is built in the central area of the underwater ship body 1 and is the core device for data reception, processing, and instruction issuance. The central control unit 4 is wirelessly connected to the sensing system component 2 and the placoid scale structure component 3.

[0045] As Figure 1 shown, the pressure sensor 21 is arranged in the front - part area in the traveling direction of the underwater ship body 1 and at the front end of the placoid scale structure component 3; the velocity sensor 22 and the turbulence intensity sensor 23 are arranged in sequence front - to - back in the middle area of the underwater ship body 1, between the placoid scale structure component 3 and the central control unit 4, and can be set directly in front of the central control unit 4.

[0046] As Figure 2As shown in the figure, the angle of attack adjustment platform 33 includes: a processor 331, a servo motor 332, and a hinge 333; the processor 331 and the servo motor 332 are connected by a signal line. The processor 331 and the central control unit 4 are connected by a wireless signal. The angle of attack adjustment platform 33 is built into the front area in the traveling direction of the underwater ship body 1. The bionic placoid scale 31 and the placoid scale base column 32 are fixedly connected, and the other end of the placoid scale base column 32 is connected to the angle of attack adjustment platform 33. A transmission shaft 321 is provided at the part where the placoid scale base column 32 is connected to the angle of attack adjustment platform 33. One end of the hinge 333 is sleeved on the transmission shaft 321, and the other end of the hinge 333 is sleeved on the output end of the servo motor 332. By setting the processor 331, the servo motor 332, the hinge 333, the transmission shaft 321, the placoid scale base column 32, and the bionic placoid scale 31, the bionic placoid scale 31 can be adjusted in terms of the angle of attack under the control of the processor 331. As Figure 3 and Figure 4 shown in the figure, the angle of attack is the included angle between the line connecting the end of the bionic placoid scale 31 far from the underwater ship body 1 and the placoid scale base column 32 and the plane of the angle of attack adjustment platform 33.

[0047] The surface of the bionic placoid scale 31 is sprayed with an epoxy resin drag reduction coating, which can reduce the water flow resistance and optimize the turbulence; the bionic placoid scale 31, the placoid scale base column 32, the transmission shaft 321, and the hinge 333 are all made of organic polymer materials.

[0048] As Figure 1 and Figure 2 shown in the figure, the pressure sensor 21, the speed sensor 22, and the turbulence intensity sensor 23 are connected to the central control unit 4 by wireless signals and can transmit and exchange signals with the central control unit 4. The processor 331 is connected to the central control unit 4 by wireless signals; the processor 331 drives the servo motor 332 to drive the hinge 333 to adjust the angle of attack through the transmission shaft 321 by executing the instructions of the central control unit 4.

[0049] The central control unit 4 is also built with a remote control module. The remote control module is connected to the mother ship by wireless signals. On the basis of automatically adjusting the angle of attack of the placoid scale structure of the underwater ship, the central control unit 4 will upload the adjusted results and relevant data to the background monitoring system of the mother ship. Through the background monitoring interface, the operator can view the running status of the ship, the data analysis results, and the adjustment situation of the placoid scale angle of attack in real time. If it is found that the adjustment is improper or the data is abnormal, the operator can manually confirm and adjust.

[0050] As Figure 3As shown in the figure, the present invention provides a dynamic adjustment scheme for increasing the angle of attack of the variable angle of attack dermal denticle structure of an underwater ship. The central control unit 4 receives the real-time data of the pressure sensor 21, the speed sensor 22 and the turbulence intensity sensor 23, calculates and analyzes by using the built-in model, and obtains the control instruction for increasing the angle of attack. Subsequently, this instruction is sent to the processor 331 through a wireless signal. After the processor 331 executes the command, the servo motor 332 drives the output end to rotate, and at the same time applies a mechanical force through the hinge 333, so that the transmission shaft 321 transmits the action to the dermal denticle base column 32. The movement of the dermal denticle base column 32 further drives the bionic dermal denticle scale 31 to incline forward, that is, the dermal denticle scale 31 inclines downward relative to the oncoming flow direction, and finally realizes the increase of the angle of attack of the dermal denticle structure assembly 3. This dynamic adjustment can increase the angle of action between the dermal denticle structure assembly 3 and the water flow, which helps to enhance the local lift force, optimize the flow field distribution, and particularly can effectively improve the influence of turbulence, reduce the viscous resistance and improve the navigation efficiency when sailing at a low speed (the sailing speed is 1-3 m / s). As Figure 4 shown, the present invention details the operation process of the variable angle of attack dermal denticle structure of an underwater ship to reduce the angle of attack. When the central control unit 4 receives the real-time data transmitted by the pressure sensor 21, the speed sensor 22 and the turbulence intensity sensor 23, after calculation and analysis by the built-in model, it obtains the control instruction for reducing the angle of attack. Subsequently, this instruction is sent to the processor 331 through a signal. After the processor 331 executes the instruction, it drives the output end of the servo motor 332 to rotate in the reverse direction. Through the linkage of the hinge 333, the transmission shaft 321 drives the dermal denticle base column 32 to incline backward, making the bionic dermal denticle scale 31 incline upward relative to the oncoming flow direction, thereby realizing the reduction of the angle of attack. This adjustment can significantly reduce the flow separation and effectively reduce the pressure resistance in the high-speed sailing state (the sailing speed > 3 m / s). By precisely controlling the angle of attack of the dermal denticle structure assembly 3, the external flow field characteristics of the ship are optimized, and at the same time, the sailing stability and energy-saving effect are improved.

[0051] As Figure 5 shown, the present invention also provides a control method applicable to the variable angle of attack dermal denticle structure applied to an underwater ship described in the present invention, including the following steps:

[0052] S1. Data collection is carried out through the sensing system assembly 2. The oncoming flow velocity U is obtained through the speed sensor 22, the surface pressure P of the underwater ship body 1 is obtained through the pressure sensor 21, and the turbulence intensity ω is obtained through the turbulence intensity sensor 23; the collected data is transmitted to the central control unit 4 through a wireless signal;

[0053] S2. Based on the obtained data, the central control unit performs data processing and analysis to obtain the real-time viscous drag coefficient C f测 and the pressure drag coefficient C p测 ;

[0054] S21. Obtain the real-time viscous drag coefficient \(C\) based on the wall shear stress and the oncoming flow velocity. f测 , and the formula is as follows:

[0055]

[0056] In the formula, \(\tau\) is the wall shear stress; \(\rho\) is the liquid density; \(U\) is the oncoming flow velocity, which is obtained by the velocity sensor 22 and transmitted to the central control unit 4 in real time; \(\mu\) is the liquid viscosity coefficient; is the velocity gradient;

[0057] S22. Obtain the real-time pressure coefficient \(C\) based on the surface pressure of the underwater vehicle body 1 and the oncoming flow velocity. p测 , and the formula is as follows:

[0058]

[0059] In the formula, \(P\) is the surface pressure of the underwater vehicle body 1, which is obtained by the pressure sensor 21 and transmitted to the central control unit 4 in real time; \(\rho\) is the liquid density; \(U\) is the oncoming flow velocity, which is obtained by the velocity sensor 22 and transmitted to the central control unit 4 in real time;

[0060] Thus, the central control unit can obtain the \(C\) f测 , \(C\) p测 .

[0061] S3. The central control unit 4 compares the oncoming flow velocity \(U\), the real-time viscous drag coefficient \(C\) f测 obtained in step S2 and the pressure drag coefficient \(C\) p测 with the theoretical values, obtains the corresponding angle of attack adjustment command, and sends it to the processor 331. The processor 331 uses the built-in PID control algorithm for fuzzy control according to the angle of attack adjustment command to obtain the changed angle of attack \(\theta\) of the dermal denticles; the processor 331 then controls the servo motor 332 to drive the hinge 333 to rotate, thereby driving the transmission shaft 321 to rotate, and finally driving the dermal denticle base column 32 to tilt forward or backward to adjust the angle of attack of the dermal denticles.

[0062] S31. The central control unit 4 compares the real-time viscous drag coefficient \(C\) f测 and the pressure drag coefficient \(C\) p测 obtained in step S2 with the theoretical values. If the oncoming flow velocity \(U\) is in the low-speed state, that is, the oncoming flow velocity \(U\) is 1 - 3 m / s, and the real-time viscous drag coefficient is greater than the theoretical viscous drag coefficient, that is, \(C\) f测 \(\gt C\) f理 , then the central control unit 4 sends an instruction to increase the angle of attack to the processor 331; if the oncoming flow velocity \(U\) is in the high-speed state, that is, the oncoming flow velocity \(U\gt3\) m / s, and the real-time pressure drag coefficient is greater than the theoretical pressure drag coefficient, that is, \(C\) P测 \(\gt C\)P理 , the central control unit 4 sends a command to the processor 331 to decrease the angle of attack; otherwise, the central control unit 4 does not send a command to adjust the angle of attack.

[0063] Here, when the underwater vehicle is traveling at a low speed, that is, when the speed is between 1 - 3 m / s, the main resistance received by the underwater vehicle is viscous resistance, and the pressure resistance is much smaller than the viscous resistance. Therefore, when the underwater vehicle is traveling at a low speed, only the viscous resistance coefficient needs to be considered, and the pressure resistance coefficient does not need to be considered. When the underwater vehicle is traveling at a high speed, that is, when the speed is greater than 3 m / s, the main resistance received by the underwater vehicle is pressure resistance, and the pressure resistance is much greater than the viscous resistance. Therefore, when the underwater vehicle is traveling at a high speed, only the pressure resistance coefficient needs to be considered, and the viscous resistance coefficient does not need to be considered. Increasing the angle of attack of the dermal denticles can optimize the micro - turbulence and reduce the viscous resistance; decreasing the angle of attack of the dermal denticles can reduce the flow separation and reduce the pressure resistance.

[0064] S32. The processor 331 obtains the variable angle of attack θ(t) according to the command issued in step S31 and the following formula:

[0065] θ = θ0 + θ(t)

[0066]

[0067] e(t) = ω 测 -ω 理

[0068] where, θ is the angle of attack of the dermal denticles; θ0 is the initial angle of attack, that is, 0°; θ(t) is the variable angle of attack, a positive value indicates that the angle of attack of the dermal denticles is adjusted downward, and a negative value indicates that the angle of attack of the dermal denticles is adjusted upward; e(t) is the tolerance; K P 、K i 、K d are the corresponding proportional, integral and differential coefficients; ω 测 is the real - time turbulence intensity, which is obtained in real - time by the turbulence intensity sensor 23; ω 理 is the theoretical turbulence intensity.

[0069] S33. The processor 331 makes a judgment according to the adjustment command issued in step S31 and the variable angle of attack θ(t) obtained in step S32. If in the low - speed state, 5° ≤ θ(t) ≤ 10° or in the high - speed state, - 2° ≤ θ(t) ≤ 4°, then execute step S34; otherwise, recalculate the variable angle of attack θ(t).

[0070] S34. Obtain the number of turns and direction of rotation of the servo motor 332 according to the variable angle of attack θ(t) obtained in step S32, and send them to the servo motor 332. The formula is as follows:

[0071]

[0072] Wherein, N is the number of turns that the servo motor 332 needs to rotate, a positive value indicates forward rotation, and a negative value indicates reverse rotation; i is the transmission ratio.

[0073] S35. The servo motor 332 drives the hinge 333 to rotate, thereby driving the transmission shaft 321 to rotate, and finally driving the dermal-fin basal column 32 to tilt forward or backward to adjust the dermal-fin attack angle.

[0074] On the basis of automatically adjusting the attack angle of the dermal-fin structure of the underwater ship, the central control unit 4 uploads the adjusted results and relevant data to the background monitoring system of the mother ship. Through the background monitoring interface, the operator can view the running state of the ship, the data analysis results, and the adjustment of the dermal-fin attack angle in real time. If it is found that the adjustment is improper or the data is abnormal, the operator can manually confirm and adjust.

[0075] In addition to the above embodiments, the present invention can also have other implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present invention.

Claims

1. A variable attack angle shield scale structure applied to an underwater ship, comprising an underwater ship body (1), characterized in that: The invention also comprises a shield scale structure component (3) arranged in an array along the circumferential direction and the length direction of the underwater ship body (1), a central control unit (4) arranged in the middle of the underwater ship body (1), and a sensor system component (2) arranged on the surface of the underwater ship body (1); the shield scale structure component (3) is arranged at the front part of the underwater ship body (1) in the direction of travel, and comprises an angle of attack adjustment platform (33) built into the underwater ship body (1), a shield scale base column (32) rotatably connected to the angle of attack adjustment platform (33), and a bionic shield scale flake (31) fixedly connected to the shield scale base column (32); the sensor system component (2) comprises a pressure sensor (21) arranged at the front end of the shield scale structure component (3), a speed sensor (22) and a turbulence intensity sensor (23) arranged in sequence between the shield scale structure component (3) and the central control unit (4); the central control unit (4) is respectively connected to the pressure sensor (21), the speed sensor (22), the turbulence intensity sensor (23) and the angle of attack adjustment platform (33) through wireless signals.

2. The variable attack angle shield scale structure for underwater ships according to claim 1 is characterized in that: The attack angle adjustment platform (33) comprises a processor (331), a servo motor (332) and a hinge (333), wherein the processor (331) and the servo motor (332) are connected via a signal line; the processor (331) and the central control unit (4) are connected via a wireless signal; a transmission shaft (321) is provided at a connection portion between the shield scale base column (32) and the attack angle adjustment platform (33), and two ends of the hinge (333) are respectively sleeved on the output ends of the transmission shaft (321) and the servo motor (332).

3. The variable attack angle shield scale structure for underwater ships according to claim 2 is characterized in that: The surface of the bionic shield scale (31) is sprayed with epoxy resin drag-reducing coating.

4. The variable attack angle shield scale structure applied to underwater ships according to claim 2 is characterized in that: The bionic shield scale (31), the shield base column (32), the transmission shaft (321) and the hinge (333) are all made of organic polymer materials.

5. The variable attack angle shield scale structure for underwater ships according to claim 2 is characterized in that: The central control unit (4) is equipped with a remote control module, and the remote control module is connected to the mother ship via a wireless signal.

6. The variable attack angle shield scale structure for underwater ships according to claim 2 is characterized in that: The speed sensor (22) and the turbulence intensity sensor (23) are arranged directly in front of the central control unit (4).

7. A control method for a variable angle of attack shield structure applied to an underwater ship according to any one of claims 2 to 6, characterized in that: The following steps are involved: S1, collecting data through the sensor system component (2), respectively obtaining the incoming flow velocity U, the surface pressure P of the underwater ship body (1), and the turbulence intensity ω; transmitting the collected data to the central control unit (4) through wireless signals; S2. Based on the acquired data, the central control unit performs data processing and analysis to obtain the real-time viscous drag coefficient C f测 and the pressure resistance coefficient C p测 ; S3, the central control unit (4) calculates the real-time viscosity resistance coefficient C according to the incoming flow velocity U and the real-time viscosity resistance coefficient C obtained in step S2. f测 and the pressure resistance coefficient C p测 The corresponding attack angle adjustment instruction is obtained by comparing with the theoretical value, and sent to the processor (331) to change the shield scale attack angle θ; the processor (331) then controls the servo motor (332) to drive the hinge (333) to rotate, thereby driving the transmission shaft (321) to rotate, and finally driving the shield scale base column (32) to tilt forward or backward to adjust the shield scale attack angle.

8. The control method of the variable attack angle shield scale structure applied to an underwater ship according to claim 7, characterized in that: The specific steps of step S2 are as follows: S21. According to the wall shear force and the incoming flow velocity, the real-time viscous resistance coefficient C is obtained. f测 , the formula is as follows: In the formula, τ is the wall shear force; ρ is the liquid density; U is the incoming flow velocity; μ is the liquid viscosity coefficient; is the velocity gradient; S22. According to the surface pressure and the incoming flow velocity of the underwater ship body (1), a real-time pressure coefficient C is obtained. p测 , the formula is as follows: Where P is the surface pressure of the underwater ship body (1); ρ is the liquid density; and U is the incoming flow velocity.

9. The control method of the variable attack angle shield scale structure applied to an underwater ship according to claim 8, characterized in that: The specific steps of step S3 are as follows: S31, the central control unit (4) calculates the real-time viscosity resistance coefficient C obtained in step S2 f测 and the pressure resistance coefficient C p测 Compared with the theoretical value, if the incoming flow velocity U is in a low-speed state of 1-3 m / s, and the real-time viscous drag coefficient is greater than the theoretical viscous drag coefficient, the central control unit (4) sends an instruction to increase the angle of attack to the processor (331); if the incoming flow velocity U is in a high-speed state greater than 3 m / s, and the real-time pressure drag coefficient is greater than the theoretical pressure drag coefficient, the central control unit (4) sends an instruction to reduce the angle of attack to the processor (331); otherwise, the central control unit (4) does not send an instruction to adjust the angle of attack; S32, the processor (331) obtains the change angle of attack θ(t) according to the instruction issued in step S31 and the following formula: θ=θ0+θ(t) e(t)=ω 测 -oh 理 Among them, θ is the shield scale attack angle; θ0 is the initial attack angle; θ(t) is the change attack angle; e(t) is the tolerance; K P , K i , K d are the corresponding proportional, integral and differential coefficients; ω 测 is the real-time turbulence intensity; ω 理 is the theoretical turbulence intensity; S33, the processor (331) makes a judgment according to the adjustment instruction issued in step S31 and the change angle of attack θ(t) obtained in step S32, and if in a low speed state, 5°≤θ(t)≤10° or in a high speed state, -2°≤θ(t)≤4°, then executes step S34; otherwise, recalculates the change angle of attack θ(t); S34, according to the change in attack angle θ(t) obtained in step S32, the number of revolutions and direction of the servo motor (332) are obtained, and sent to the servo motor (332), the formula is as follows: Wherein, N is the number of revolutions that the servo motor (332) needs to rotate; i is the transmission ratio; S35, the servo motor (332) drives the hinge (333) to rotate, thereby driving the transmission shaft (321) to rotate, and finally driving the shield scale base column (32) to tilt forward or move backward to adjust the shield scale attack angle.

Images