Unmanned ship stabilization device

Abstract

According to the technical scheme, the unmanned ship stabilization device comprises a fin stabilizer, the fin stabilizer comprises a fin head, a fin tail, a fin back and a fin belly, and the fin stabilizer comprises a first fin stabilizer (10) and a second fin stabilizer (11); the fin head of the first fin stabilizer is provided with a rotating axis which is called as a first axis; the fin head of the second fin stabilizer is provided with a rotating axis which is called as a second axis; the first axial lead and the second axial lead coincide on the same straight line; a mirror surface exists between the first fin stabilizer and the second fin stabilizer on the whole, that is, the first fin stabilizer and the second fin stabilizer are in mirror symmetry on the whole relative to the mirror surface, and the same straight line is located in the mirror surface.

Description

Technical Field

[0001] The present invention relates to an unmanned boat anti-rolling device, in particular to an unmanned boat multi-mode full-speed anti-rolling device. Background Art

[0002] Whether moored or especially underway, surface vessels can be subject to swaying due to wind, waves, or currents, which can adversely affect the vessel itself or its cargo. To mitigate these adverse effects, existing ship anti-roll devices exist. For example, Chinese patent document CN 113879476A discloses a full-speed fin stabilizer based on a complete Weis-Fogh structure and its operation method. This solution provides a full-speed fin stabilizer based on a complete Weis-Fogh structure, characterized by comprising a hull, a rocker arm mounted on the hull, the rocker arm connected to an opening and closing cylinder, a cross-axis body mounted on the rocker arm, a fin blade mounted at the front end of the cross-axis body, and a motor mounted at the rear end of the cross-axis body. By fully utilizing the high lift characteristics of the Weis-Fogh structure at zero and low speeds, a full-speed fin stabilizer based on the Weis-Fogh structure is realized. This fin stabilizer utilizes the hull and a single fin blade to achieve a complete Weis-Fogh structure, while also conveniently switching between zero, low, and medium-high speed operating modes. However, although this solution solves the problem of anti-rolling at zero and low speeds to a certain extent, it still has some limitations.

[0003] Compared to large ships, unmanned boats (UDVs) are smaller, lighter, and have lower moments of inertia. However, when performing tasks requiring high stability, such as emergency hydrological detection, they are more susceptible to environmental disturbances such as wind, waves, and currents, resulting in significant oscillations that can affect mission accuracy and navigation safety. Therefore, improving the attitude stability of UUVs in complex sea conditions is crucial to ensuring the smooth implementation of these missions. However, existing common anti-roll solutions are mostly designed for large ships, resulting in complex structures and bulky volumes. These solutions not only occupy the limited payload space of the UUV but also struggle to adapt to the lightweight and modular design requirements of the UUV. In particular, when the UUV is at zero or low speed, the incoming flow velocity drops significantly, making it difficult for traditional anti-roll fins that rely on hydrodynamic lift to function effectively, resulting in a significant reduction in anti-roll performance. Therefore, conventional anti-roll devices are unable to meet the application requirements of UUVs. There is an urgent need to develop a compact, specially designed anti-roll fin for UUVs that can withstand low speeds and even static conditions while still providing good anti-roll capability. Summary of the Invention

[0004] The present invention aims to solve the key problems of existing anti-roll technology in the application of unmanned boats. The currently commonly used anti-roll devices are large in size, occupying valuable mission payload space, and have a complex structure, which is not conducive to lightweight integrated deployment. More importantly, when the unmanned boat is at zero speed or low speed, the incoming flow velocity drops significantly, and the traditional anti-roll fins that rely on flow velocity to generate lift are difficult to play an effective role, resulting in a significant decrease in the anti-roll effect. Therefore, it is urgent to propose a new unmanned boat anti-roll device with a compact structure, strong integration, and suitable for achieving effective anti-roll under conditions including zero speed and low speed.

[0005] In order to solve one of the above technical problems, the technical solution of the present invention is as follows:

[0006] An unmanned boat anti-roll device includes a fin stabilizer, wherein the fin stabilizer includes a fin head, a fin tail, a fin back and a fin belly, and the fin stabilizer includes a first fin stabilizer 10 and a second fin stabilizer 11; the first fin stabilizer is provided with a rotation axis, referred to as the first axis; the second fin stabilizer is provided with a rotation axis, referred to as the second axis; the first axis and the second axis coincide with the same straight line; there is generally a mirror image plane between the first fin stabilizer and the second fin stabilizer, that is, the first fin stabilizer and the second fin stabilizer are generally mirror-symmetrical with respect to the mirror image plane, and the same straight line is located within the mirror image plane.

[0007] This structural design allows the unmanned boat anti-roll device to switch between the following motion modes according to the speed of the unmanned boat:

[0008] Opening and closing flapping motion mode: the mirror plane is in a vertical position, and the belly of the first fin stabilizer and the belly of the second fin stabilizer perform selective opening motion or closing motion relative to the mirror plane;

[0009] In the double-wing closed active flapping mode, the head of the first fin stabilizer and the head of the second fin stabilizer are close to the source of the water flow, while the tail of the fin is far away from the source of the water flow. The belly of the first fin stabilizer and the belly of the second fin stabilizer are in a position of abutting each other, so that the first fin stabilizer and the second fin stabilizer are affixed to each other to form an integrated fin stabilizer. With respect to a horizontal plane passing through the same straight line, the integrated fin stabilizer performs a selectable upward or downward flapping motion relative to the horizontal plane;

[0010] Double-wing closed angle of attack change mode: The belly of the first fin stabilizer and the belly of the second fin stabilizer are in a position of fitting each other, so that the first fin stabilizer and the second fin stabilizer are fitted into an integrated fin stabilizer, and the angle of attack value is adjusted according to the water flow velocity and the swing of the unmanned boat.

[0011] Among them, the above-mentioned opening and closing flapping motion mode can be effectively used for reducing the roll of the unmanned boat at zero speed, the double-wing closed active flapping mode can be effectively used for reducing the roll of the unmanned boat at low speed, and the double-wing closed angle of attack change mode can be effectively used for reducing the roll of the unmanned boat at medium and high speeds.

[0012] According to common understanding, the speed of the unmanned boat here refers to the relative speed of the unmanned boat with respect to the water flow, and zero speed refers to the situation where the speed is 0 knots.

[0013] Low speed, here refers to a speed greater than 0 and less than or equal to 5 knots, for example but not limited to low speed, specific examples are 0.5 knots, 1 knot, 1.5 knots, 2 knots, 2.5 knots, 3 knots, 3.5 knots, 4 knots, 4.5 knots, etc.;

[0014] Medium-high speed refers to a speed greater than 5 knots. There is no particular limit on the upper limit of medium-high speed, and it can be understood by those skilled in the art. For example, medium-high speed is greater than 5 knots and less than 30 knots. For example, but not limited to, the specific values of medium-high speed are 5.5 knots, 6 knots, 6.5 knots, 7 knots, 7.5 knots, 8 knots, 8.5 knots, 9 knots, 10 knots, 11 knots, 12 knots, 13 knots, 14 knots, 15 knots, 20 knots, 25 knots, 30 knots, etc. If we break it down further, medium-high speed can be further divided into medium speed (greater than 5 knots to less than or equal to 15 knots) and high speed (greater than 15 knots).

[0015] About the opening and closing angle of the opening and closing flapping exercise mode:

[0016] If the belly of the first stabilizer fin and the belly of the second stabilizer fin are placed in contact with each other, the bellies of the two stabilizers are in contact with each other, and there are contact points. The plane defined by any contact point on the belly of the first stabilizer fin and the same straight line is called the first stabilizer fin geometric plane, and the plane defined by any contact point on the belly of the second stabilizer fin and the same straight line is called the second stabilizer fin geometric plane. Then the opening and closing angle in the opening and closing flapping motion mode is expressed as α 开合 It refers to the angle between the first stabilizer fin geometric plane and the mirror plane, or it refers to the angle between the second stabilizer fin geometric plane and the mirror plane. Therefore, as an example, naturally, α 开合 When α is 0°, the belly of the first fin stabilizer and the belly of the second fin stabilizer are in a mutually fitted position; when the first fin stabilizer and the second fin stabilizer are opened to the point where the tail of the first fin stabilizer is farthest from the tail of the second fin stabilizer, that is, the angle between the geometric plane of the first fin stabilizer and the geometric plane of the second fin stabilizer is 180°, 开合 is 90°. 开合 Preferably 0-90°, for example but not limited to α 开合5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, etc., more preferably 0-60°, more preferably 0-30°. In the case of the opening and closing flapping motion mode, in α 开合 During the swinging process from large to small, the fin stabilizer provides lifting force to the side of the unmanned boat. 开合 During the swinging motion from small to large, the fin stabilizer provides a sinking force on the side of the unmanned boat. 开合 The maximum value is defined as the opening and closing amplitude within a given cycle, expressed as A 开合 , then the α of the opening and closing flapping process in any cycle is given 开合 The range of change is 0~+A 开合 , then A 开合 Greater than 0 and less than 90°, such as but not limited to A 开合 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, preferably A 开合 It is 10°~60°.

[0017] About the flapping angle of the double-wing closed active flapping mode:

[0018] In the double-wing closed active flapping mode, the plane determined by the water flow direction and the same straight line is regarded as the flapping angle reference plane in the double-wing closed active flapping mode. The flapping angle in the double-wing closed active flapping mode is expressed as α 拍打 , refers to the angle between the flapping angle reference plane and the mirror plane, and stipulates that when the tail of the fin is higher than the flapping reference plane, α 拍打 When the fin tail is below the flapping reference plane, α 拍打 is a negative value. In the double-wing closed active flapping mode, the fin stabilizer is in α 拍打 The flapping process from large to small provides lifting force to the side of the unmanned boat. The fin stabilizer is in α 拍打 The flapping process from small to large provides a sinking force on the side of the unmanned boat. 拍打 The value is greater than -90° and less than +90°, for example but not limited to α 拍打is –85°, –80°, –75°, –70°, –65°, –60°, –55°, –50°, –45°, –40°, –35°, –30°, –25°, –20°, –15°, –10°, –5°, 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, etc. For the periodic flapping process of the double-wing closed active flapping mode, within a given period, α 拍打 The maximum absolute value is defined as the flapping amplitude within a given period, denoted as A 拍打 , then A 拍打 If it is greater than 0 and less than 90°, then the α of the flapping process within the cycle is given. 拍打 Range is –A 拍打 ~+A 拍打 As a non-limiting example, for example but not limited to A 拍打 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, preferably A 拍打 It is 10°~60°.

[0019] About the angle of attack of the double-wing closed angle of attack change mode

[0020] In the double-wing closed attack angle change mode, the plane defined by the water flow direction and the same straight line is regarded as the attack angle reference plane in the double-wing closed attack angle change mode. The attack angle in the double-wing closed attack angle change mode is expressed as α 攻角 , refers to the angle between the angle of attack reference plane and the mirror plane, and stipulates that when the tail of the fin is lower than the angle of attack reference plane, α 攻角 When the fin tail is higher than the reference plane of the attack angle, α 攻角 In the double-wing closed attack angle change mode, α 攻角 The change range is greater than -90° to less than +90°, for example but not limited to α 攻角The following table contains the following angles: –85°, –80°, –75°, –70°, –65°, –60°, –55°, –50°, –45°, –40°, –35°, –30°, –25°, –20°, –15°, –10°, –5°, 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85° and so on. A more preferred attack angle range is -16° to +16°, such as but not limited to -15°, -14°, -13°, -12°, -11°, -10°, -9°, -8°, -7°, -6°, -5°, -4°, -3°, -2°, -1°, 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, and the like.

[0021] α 攻角 When it is positive, the fin stabilizer provides lift to the side of the unmanned boat. 攻角 When it is a negative value, the fin stabilizer provides a sinking force on the side of the unmanned boat.

[0022] In the above technical solution, preferably, the heads of the first fin stabilizer 10 and the second fin stabilizer 11 are connected by a hinge, and the axis of the hinge's rotation axis coincides with the same straight line.

[0023] In the above technical solution, it is preferred that the first fin stabilizer 10 is driven by a first fin stabilizer attitude driving motor, and the second fin stabilizer 11 is driven by a second fin stabilizer attitude driving motor.

[0024] In the above technical solution, it is preferred that the first fin stabilizer 10 , the rotating shaft 4 and the first transmission wheel 5 are fixedly connected in sequence.

[0025] In the above technical solution, it is preferred that the first fin stabilizer 10 is fixedly connected to the rotating shaft 4 via a first fin stabilizer connector 8 .

[0026] In the above technical solution, the rotating shaft 4 and the first transmission wheel 5 are preferably fixedly connected via a first transmission wheel-rotating shaft connector 4a.

[0027] In the above technical solution, it is preferred that the axis center line of the rotating shaft 4, the axis center line of the first transmission wheel and the first axis center line are collinear.

[0028] In the above technical solution, the first transmission wheel is preferably used for power connection with the first fin stabilizer attitude drive motor, and the connection method is selected from, for example, belt drive connection, chain drive connection, worm gear drive connection or gear drive connection, etc.

[0029] In the above technical solution, the rotating shaft 4 and the first transmission wheel-rotating shaft connector 4a can be fixedly connected by detachable connection (for example, detachable fixed connection by bolts or screws), welding or integral molding, etc., preferably welding or integral molding.

[0030] In the above technical solution, the second fin stabilizer 11 is preferably fixedly connected to the second transmission wheel 7 .

[0031] In the above technical solution, it is preferred that the second fin stabilizer 11 is fixedly connected to the second transmission wheel 7 via a second fin stabilizer connector 9 .

[0032] In the above technical solution, preferably, the axis of the second transmission wheel is collinear with the second axis.

[0033] In the above technical solution, the second transmission wheel is preferably used for power connection with the second fin stabilizer attitude drive motor, and the connection method is selected from, for example, belt drive connection, chain drive connection, worm gear drive connection or gear drive connection, etc.

[0034] In the above technical solution, the unmanned boat anti-roll device preferably includes a mounting plate 1, a first ball bearing 2 and a second ball bearing 3, and the outer ring of the bearing is fixed to the mounting plate 1; the axis of the first ball bearing 2 is collinear with the first axis, and the inner ring of the first ball bearing is fixedly connected to the rotating shaft 4.

[0035] In the above technical solution, it is preferred that the inner ring of the second ball bearing 3 is fixedly connected to the second transmission wheel 7 .

[0036] In the above technical solution, the inner ring of the second ball bearing 3 is preferably fixedly connected to the second transmission wheel 7 via a second bearing-second transmission wheel connecting member 6 .

[0037] In the above technical solution, preferably, the belly of the first fin stabilizer and the belly of the second fin stabilizer are plane.

[0038] The second technical problem to be solved by the present invention is to provide an unmanned boat anti-rolling device system, and the technical solution is:

[0039] An unmanned boat anti-rolling device system includes a set of unmanned boat anti-rolling devices symmetrically arranged on the port and starboard sides of the unmanned boat, each set being any one of the technical solutions to the above technical problems.

[0040] The third technical problem to be solved by the present invention is the application of the above-mentioned unmanned boat anti-rolling device or unmanned boat anti-rolling device system. The technical solution is:

[0041] The application of the unmanned boat anti-rolling device described in any one of the technical solutions to one of the above technical problems or the unmanned boat anti-rolling device system described in the technical solution to the second technical problem in unmanned boat anti-rolling.

[0042] For the sake of simplicity, when fixing with bolts or screws, the figure only shows the bolt holes for installing the bolts or the screw holes for installing the screws. The figure also only shows the hinge connection between the first fin stabilizer and the second fin stabilizer at the hinge mating part 10a of the first fin stabilizer and the hinge mating part 11a of the second fin stabilizer, and the hinge pin is not shown.

[0043] The present invention has the following effects:

[0044] The device of the present invention does not occupy the valuable mission payload space of the unmanned boat, has a relatively simple structure, and has an opening and closing flapping motion mode suitable for zero speed, a double-wing closed active flapping mode suitable for low speed, and an angle of attack change mode suitable for anti-roll at medium and high speeds, thereby providing the unmanned boat with full-speed anti-roll effect.

[0045] The present invention will be described in detail below through the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of a front view of a specific embodiment of the present invention;

[0047] Figure 2 It is a schematic longitudinal cross-sectional view of a specific embodiment of the present invention along the AA direction of the main view;

[0048] Figure 3 It is a schematic longitudinal cross-sectional view of a specific embodiment of the present invention along the BB direction of the main view;

[0049] Figure 4 It is a schematic diagram of an exploded view of a specific embodiment of the present invention;

[0050] Figure 5 Schematic diagram of the fluid domain setup in the simulation experiment;

[0051] Figure 6 Maximum lift and opening and closing range (A 开合 ) relationship diagram;

[0052] Figure 7 Maximum lift and flapping amplitude (A) in double-wing closed active flapping mode 拍打 ) relationship diagram;

[0053] Figure 8 A diagram showing the relationship between lift and angle of attack for a double-wing closed angle of attack change mode.

[0054] In the picture:

[0055] 1 is the mounting plate;

[0056] 2 is the first ball bearing;

[0057] 3 is the second ball bearing;

[0058] 4 is a rotating shaft;

[0059] 4a is the first transmission wheel-rotating shaft connecting member;

[0060] 5 is the first transmission wheel;

[0061] 6 is a second bearing-second transmission wheel connecting member;

[0062] 7 is the second transmission wheel;

[0063] 8 is a first stabilizer fin connector;

[0064] 9 is a second fin stabilizer connector;

[0065] 10 is a first fin stabilizer;

[0066] 10a is the first fin stabilizer hinge fitting portion;

[0067] 11 is a second fin stabilizer;

[0068] 11a is the second fin stabilizer hinge fitting part;

[0069] L1 is the upper boundary of the fluid domain;

[0070] L2 is the left boundary of the fluid domain, which serves as the velocity inlet of the domain;

[0071] L3 is the lower boundary of the fluid domain;

[0072] L4 is the right boundary of the fluid domain and serves as the pressure outlet of the domain;

[0073] L5 is the fin stabilizer. DETAILED DESCRIPTION

[0074] See also Figures 1 to 4 .

[0075] A roll stabilization device for an unmanned surface boat includes a fin stabilizer, wherein the fin stabilizer includes a fin head, a fin tail, a fin back and a fin belly, and the fin stabilizer includes a first fin stabilizer 10 and a second fin stabilizer 11; the fin head of the first fin stabilizer is provided with a rotation axis, referred to as the first axis; the fin head of the second fin stabilizer is provided with a rotation axis, referred to as the second axis; the first axis and the second axis coincide with the same straight line; there is generally a mirror image plane between the first fin stabilizer and the second fin stabilizer, that is, the first fin stabilizer and the second fin stabilizer are generally mirror-symmetrical to each other relative to the mirror image plane, and the same straight line is located within the mirror image plane.

[0076] The heads of the first fin stabilizer and the second fin stabilizer are connected via a hinge, and the axis of the rotating shaft of the hinge coincides with the same straight line.

[0077] The first fin stabilizer 10 and the second fin stabilizer 11 are driven by respective attitude driving motors. For example, the first fin stabilizer 10 is driven by the first fin stabilizer attitude driving motor, and the second fin stabilizer 11 is driven by the second fin stabilizer attitude driving motor.

[0078] The first fin stabilizer 10, the shaft 4 and the first transmission wheel are fixedly connected in sequence; the first fin stabilizer 10 and the shaft 4 are fixedly connected via the first fin stabilizer connector 8, and the shaft 4 and the first transmission wheel 5 are fixedly connected via the first transmission wheel-shaft connector 4a.

[0079] The axis center line of the rotating shaft 4 and the axis center line of the first transmission wheel are collinear with the first axis center line.

[0080] The first transmission wheel is used for power connection with the first fin stabilizer attitude drive motor, and the connection mode is belt drive connection.

[0081] The rotating shaft 4 and the first transmission wheel-rotating shaft connecting member 4a are integrally formed.

[0082] The second fin stabilizer 11 is fixedly connected to the second transmission wheel 7 . Specifically, the second fin stabilizer 11 is fixedly connected to the second transmission wheel 7 via a second fin stabilizer connector 9 .

[0083] The axis center line of the second transmission wheel is collinear with the second axis center line.

[0084] The second transmission wheel is used for power connection with the second fin stabilizer attitude drive motor, and the connection mode is belt drive connection.

[0085] The unmanned boat anti-roll device includes a mounting plate 1, a first ball bearing 2 and a second ball bearing 3, the outer ring of the bearing is fixed to the mounting plate 1; the axis of the first ball bearing 2 is collinear with the first axis, and the inner ring of the first ball bearing is fixedly connected to the rotating shaft 4.

[0086] The inner ring of the second ball bearing 3 is fixedly connected to the second transmission wheel 7 . Specifically, the inner ring of the second ball bearing 3 is fixedly connected to the second transmission wheel 7 via a second bearing-second transmission wheel connector 6 .

[0087] The belly of the first fin stabilizer and the belly of the second fin stabilizer are planar.

[0088] When the device of the present invention is used in an unmanned boat, it is recommended to be symmetrically arranged in number and position on the port side and starboard side of the unmanned boat. The simplest configuration is to symmetrically arrange one set of the unmanned boat anti-rolling device of the present invention on the port side and starboard side respectively.

[0089] simulation test

[0090] The following tests were conducted on the opening and closing flapping motion mode at 0 speed, the active flapping mode of double-wing closure at low speed, and the angle of attack change mode of double-wing closure at medium and high speed.

[0091] 1. Test conditions

[0092] In simulations, the belly of the first and second fin stabilizers were rectangular, with a length (chord length) of 0.300 meters and a width (span) of 0.215 meters. When these two fins were joined together to form an integrated stabilizer, the integrated stabilizer had a NACA0015 airfoil profile.

[0093] Using Starccm+ fluid simulation software.

[0094] Fluid Domain Settings: See Figure 5 , the basin is set to a rectangular parallelepiped, with a length of 2.0 meters (that is, the size of L1 in the figure) and a width of 2.0 meters ( Figure 5 The width is not shown in the figure), the height is 1.5 meters (that is, the size of L2 in the figure), the axis of the fin stabilizer's rotation axis is 0.75 meters away from the upper and lower boundaries, and the distance between the fin stabilizer's symmetry plane perpendicular to the axis of the fin stabilizer and the front and rear interfaces of the watershed is 1.0 meters. The axis of the fin stabilizer is 0.50 meters away from the left boundary and 1.5 meters away from the right boundary.

[0095] The time step is 0.001s, the pressure-velocity coupling mode is SIMPLE, and the turbulence model is the SSTk-ω model.

[0096] 2. Simulation test of three specific modes

[0097] 2.1. Double-wing opening and closing flapping motion mode

[0098] The speed is 0 knots.

[0099] During exercise, α 开合 The control is performed according to the following function:

[0100]

[0101] Among them, π is the circumference of a circle; t is the movement time in seconds.

[0102] By setting a series of different A 开合 The values were respectively used to conduct periodic flapping experiments in the opening and closing flapping motion mode, and the results were obtained. Figure 6 The results are shown. It can be seen that the maximum lift and A 开合 There is a close quadratic relationship between them. When the swing angle is 60°, it can provide a maximum lift of 257N. If used properly, it can reduce the rolling at zero speed.

[0103] 2.2. Double-wing closed active flapping mode

[0104] The speed is 2 knots.

[0105] The following function is used to simulate the change over time during the periodic flapping process of the double-wing closed active flapping mode:

[0106] α 拍打 =A 拍打 sin(0.4πt)

[0107] Where: π is the circumference of a circle; t is the movement time in seconds.

[0108] By setting a series of different A 拍打 The values were respectively used to conduct periodic flapping experiments in double-wing closed active flapping mode, and the results were Figure 7 The results are shown in Figure 2. The results show that when the unmanned boat is moving at a low speed, the active flapping mode can provide sufficient lift to resist the roll disturbance within a reasonably designed flapping angle range.

[0109] 2.3. Double-wing closed attack angle change mode

[0110] The speed is 8 knots.

[0111] from Figure 8 The experimental results show that when the angle of attack is less than the stall angle, the lift becomes a constant after a period of time. When the angle of attack is changed, when the angle of attack is within the range of 0-14°, the lift and angle of attack increase linearly. The lift increase is small from 14° to 16°. After 16°, the lift stalls and begins to decrease. At 20°, the lift is completely stalled and is no longer a constant. In summary, in this mode, as long as the angle of attack is controlled within 16°, sufficient lift can be provided to resist the swing disturbance.

Claims

1. An unmanned boat anti-roll device, comprising a fin stabilizer, wherein the fin stabilizer comprises a fin head, a fin tail, a fin back and a fin belly, and is characterized in that: The fin stabilizer comprises a first fin stabilizer (10) and a second fin stabilizer (11); a rotation axis is provided at the head of the first fin stabilizer, which is called the first axis; a rotation axis is provided at the head of the second fin stabilizer, which is called the second axis; the first axis and the second axis coincide with the same straight line; a mirror image plane generally exists between the first fin stabilizer and the second fin stabilizer, that is, the first fin stabilizer and the second fin stabilizer are generally mirror-symmetrical with respect to the mirror image plane, and the same straight line is located within the mirror image plane.

2. The unmanned boat anti-rolling device according to claim 1 is characterized in that: The heads of the first stabilizer fin (10) and the second stabilizer fin (11) are connected via a hinge, and the axis of the hinge's rotation axis coincides with the same straight line.

3. The unmanned boat anti-rolling device according to claim 1 is characterized by: The first fin stabilizer (10) is driven by a first fin stabilizer attitude driving motor, and the second fin stabilizer (11) is driven by a second fin stabilizer attitude driving motor.

4. The unmanned boat anti-rolling device according to claim 3 is characterized by: The first stabilizer fin (10), the rotating shaft (4) and the first transmission wheel (5) are fixedly connected in sequence. Preferably, the first stabilizer fin (10) and the rotating shaft (4) are fixedly connected via the first stabilizer fin connector (8). And / or preferably, the rotating shaft (4) and the first transmission wheel (5) are fixedly connected via the first transmission wheel-rotating shaft connector (4a). Preferably, the axis center line of the rotating shaft (4), the axis center line of the first transmission wheel and the first axis center line are collinear. Preferably, the first transmission wheel is used for power connection with the first stabilizer fin attitude drive motor, and the connection method is, for example, selected from belt drive connection, chain drive connection, worm gear drive connection or gear drive connection, etc. The rotating shaft (4) and the first transmission wheel-rotating shaft connector (4a) can be fixedly connected in a detachable fixed connection (for example, detachable fixed connection by bolts or screws), welding or integral molding, etc., preferably welding or integral molding.

5. The unmanned boat anti-rolling device according to claim 4 is characterized in that: The second fin stabilizer (11) is fixedly connected to the second transmission wheel (7). Preferably, the second fin stabilizer (11) and the second transmission wheel (7) are fixedly connected via a second fin stabilizer connector (9). Preferably, the axis of the second transmission wheel is colinear with the second axis. Preferably, the second transmission wheel is used for power connection with the second fin stabilizer attitude drive motor, and the connection method is selected from, for example, a belt drive connection, a chain drive connection, a worm gear drive connection, or a gear drive connection.

6. The unmanned boat anti-rolling device according to claim 5, characterized in that: The unmanned boat anti-roll device comprises a mounting plate (1), a first ball bearing (2) and a second ball bearing (3), wherein the outer ring of the bearing is fixed to the mounting plate (1); the axis of the first ball bearing (2) is collinear with the first axis, and the inner ring of the first ball bearing is fixedly connected to the rotating shaft (4). The inner ring of the second ball bearing (3) is fixedly connected to the second transmission wheel (7). More preferably, the inner ring of the second ball bearing (3) is fixedly connected to the second transmission wheel (7) via a second bearing-second transmission wheel connector (6).

7. The unmanned boat anti-rolling device according to claim 1 is characterized by: The belly of the first fin stabilizer and the belly of the second fin stabilizer are plane.

8. An unmanned boat anti-rolling device system, comprising a set of unmanned boat anti-rolling devices according to any one of claims 1 to 9, each symmetrically arranged on the port and starboard sides of the unmanned boat.

9. Use of the unmanned boat anti-rolling device according to any one of claims 1 to 7 or the unmanned boat anti-rolling device system according to claim 8 in anti-rolling of unmanned boats.

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