Lateral ballast adjusting device for underwater unmanned vehicle
The modularly designed horizontal ballast device solves the problem of inflexible adjustment of the center of gravity and center of buoyancy of underwater unmanned vehicles, achieves accurate and rapid leveling effects, and improves the applicability and interchangeability of the device.
Patent Information
- Application Number
- CN202510959438.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-11
- Publication Date
- 2025-10-03
AI Technical Summary
Existing underwater unmanned vehicles have problems such as insufficient flexibility, unstable fixation, and unsatisfactory adaptability when adjusting the deviation of the center of gravity and the center of buoyancy, which are particularly prominent in mass production.
A modular lateral ballast device is designed, which includes a left ballast support frame, a lateral ballast block, a ballast adjustment rod and a right ballast support frame. The ballast block can be flexibly adjusted through threaded connections and limiting fastening components. The modular design is adopted to meet the needs of different underwater unmanned vehicles.
The synchronous adjustment of the center of gravity and center of buoyancy of the underwater unmanned vehicle is achieved, the leveling accuracy and adaptability are improved, the working time is reduced, and the interchangeability and inheritance of the device are enhanced.
Smart Images
Figure CN120735930A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of underwater unmanned vehicle carrier devices, and in particular to a transverse ballast device. Background Art
[0002] With the increasing complexity and specialization of work requirements such as marine resource survey, marine ecological environment monitoring and marine information collection, the payloads carried by underwater unmanned vehicle platforms have become more specialized and refined, and the requirements for the outfitting positions of the payloads carried by underwater unmanned vehicle platforms have become increasingly higher, which in turn leads to the need for the underwater unmanned vehicle carrier structure to balance the various loads through large-mass ballast, which brings about the problem of deviation of the center of gravity and center of buoyancy of the underwater unmanned vehicle.
[0003] At present, most of the solutions to such center of gravity and center of buoyancy deviation leveling problems adopt on-site preparation of lead sheets, lead blocks or steel balls, but this treatment method has some disadvantages such as insufficient flexibility in leveling load adjustment, inability to effectively fix the leveling load, and unsatisfactory adaptability and inheritance. If underwater unmanned vehicles are mass-produced, such disadvantages will be particularly prominent and cannot be ignored. Summary of the Invention
[0004] The purpose of this patent is to design an adjustable transverse ballast device that can solve the problems of accuracy, flexibility, adaptability, reliability, inheritance, etc. in the existing underwater unmanned vehicle leveling ballast when adjusting the center of gravity and the center of buoyancy deviation from the leveling.
[0005] The technical solution of the underwater unmanned vehicle lateral adjustment and ballast device of the present invention is as follows:
[0006] A lateral adjustment ballast device for an underwater unmanned vehicle comprises a left ballast support frame, a lateral adjustment ballast block, a ballast adjustment rod, a right ballast support frame and a limiting fastening component; the left ballast support frame and the right ballast support frame are connected by the ballast adjustment rod, and the lateral adjustment ballast blocks are arranged on both sides of the ballast support frame and fixed by limiting fastening components; the left ballast support frame and the right ballast support frame both comprise frame support rods, and frame end face connecting components and rod end threads are respectively provided at both ends of the frame support rods; the lateral adjustment ballast blocks adopt a modular design, and their appearance and single block weight are adjusted according to the leveling accuracy requirements.
[0007] Furthermore, left-handed threads and right-handed threads are respectively provided at both ends of the ballast adjusting rod, forming a threaded pair connection with the threads of the left ballast support frame and the right ballast support frame, and the axial spacing between the left ballast support frame and the right ballast support frame is adjusted by rotating the ballast adjusting rod.
[0008] Furthermore, the middle section of the ballast adjustment rod is provided with a flat structure for providing a radial insertion space for the transverse adjustment ballast block, and the transverse adjustment ballast block is provided with a rod through hole and an opening structure.
[0009] Furthermore, the outer diameter of the frame support rod is B, the diameter of the rod hole of the horizontal ballast block is D, and the width of the flat structure of the ballast adjustment rod is G.
[0010] Furthermore, the diameter D of the through-rod hole is larger than the diameter B of the frame support rod, and the opening width F is larger than the flat structure width G of the ballast adjustment rod, so that the transverse ballast block can be moved axially and inserted radially along the ballast adjustment rod, facilitating the rapid disassembly and assembly of the transverse ballast block.
[0011] Furthermore, the device has modular interchangeability, and the leveling and ballast load distribution schemes of the same batch of underwater unmanned vehicles are universal, with good inheritance.
[0012] Furthermore, this transverse ballast device allows a single group or multiple groups to be combined, which is connected to the interior of the aircraft through the connecting parts at both ends of the frame. Multiple groups of structures are adjusted synchronously to achieve synchronous leveling of the bow and stern directions and the left and right directions of the center of gravity of the underwater unmanned aircraft. The state of the aircraft after installing a single group or multiple groups of transverse ballast devices is the aircraft ready state.
[0013] A calculation method based on the specific weight and position coordinate parameter indicators of the transverse ballast device, characterized in that the weight and position coordinate parameter indicators of the transverse ballast device are calculated based on the principle that the center of gravity coordinates and the center of buoyancy coordinates of the underwater unmanned vehicle's transverse and longitudinal axes coincide with each other when the underwater unmanned vehicle is in a ready state, and the stability conditions of the vehicle itself are met;
[0014] W G =W0+W2=(W1+W3)·ρ=W F ·ρ
[0015]
[0016] h=z F -z G
[0017] Where W0 is the weight of the aircraft excluding the ballast device, (x0, y0, z0) is the coordinate of the center of gravity, W1 is the buoyancy volume, (x1, y1, z1) is the coordinate of the center of buoyancy; W2 is the weight of the ballast device of the aircraft, (x2, y2, z2) is the coordinate of the center of gravity, W3 is the buoyancy volume, (x3, y3, z3) is the coordinate of the center of buoyancy; W G is the weight of the aircraft in ready state, (x G ,y G ,z G ) is the coordinate of the center of gravity, W F is the floating volume, (x F ,y F ,z F ) is the coordinate of the center of buoyancy; ρ is the density of the underwater environment of the vehicle, and h is the metacentric height.
[0018] Furthermore, x2=x3, y2=y3, z2=z3; according to the stability requirements of the aircraft, x G =x F ,y G =y F According to the internal space reserved for the ballast device, the weight and position of each part of the ballast device are redistributed in the bow and stern, port and starboard directions. The weight of each part of the ballast device is W i , the floating volume is W fi 、The coordinates of the center of gravity are (x i ,y i ,z i ); and according to the following formula, the weight and position distribution of each part of the horizontal ballast device are verified to meet the requirements of the total weight W2, buoyancy volume W3, and center of gravity coordinates (x2, y2, z2) of the horizontal ballast device obtained above;
[0019]
[0020] Where n is the total number of ballast structures.
[0021] Furthermore, the method for calculating the specific weight and position coordinate parameter indicators of the transverse ballast device also includes a method for calculating the weight parameters of a single transverse ballast block in the transverse ballast device; the maximum adjustment amount of the single weight m of the transverse ballast block while meeting the transverse accuracy requirements is obtained by the following formula:
[0022] W G ·x G =(W G -m)·L'+m·L1
[0023]
[0024] Wherein, L1 is the X-axis distance from the origin to the initial position of the single lateral ballast block, L is the adjustment distance of the single lateral ballast block position, a is the accuracy of the lateral inclination angle produced by the adjustment of the single lateral ballast block position, L' is the X-axis distance from the center of gravity to the origin when the vehicle is in the ready state without the single lateral ballast block (2), Adjust the new coordinates of the vehicle for the position of a single ballast block.
[0025] The beneficial effects of the present invention are:
[0026] The underwater unmanned vehicle transverse adjustment ballast device of the present invention realizes the function of synchronously adjusting and leveling the bow, stern and left and right directions of the underwater unmanned vehicle when the center of gravity and center of buoyancy deviate from a large range. The adaptive design of the ballast device according to the constraints of the ballast outfitting space also greatly reduces the layout space of the transverse adjustment ballast device and improves the utilization rate of the envelope volume of the underwater unmanned vehicle; the modular design can flexibly adjust the weight of a single transverse adjustment ballast block according to the deviation of the center of gravity and center of buoyancy of the underwater unmanned vehicle from the leveling accuracy, and thus has flexible adaptability and good practicality for the requirements of underwater unmanned vehicles of different sizes for leveling and ballast accuracy; the modular design can make the parts of different ballast components extremely interchangeable, especially during leveling work, the leveling ballast blocks can be quickly disassembled and assembled, reducing the working time of leveling the center of gravity and center of buoyancy of the underwater unmanned vehicle; the transverse adjustment ballast device has interchangeability and inheritance in mass production. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a schematic diagram of the transverse ballast structure of the present invention.
[0028] Figure 2 It is a schematic cross-sectional view of the ballast support frame of the present invention.
[0029] Figure 3 It is a schematic diagram of the lateral ballast block of the present invention.
[0030] Figure 4 Schematic diagram of the ballast adjustment rod of the present invention.
[0031] Figure 5 It is a right-handed single-side cutaway schematic diagram of the present invention.
[0032] Figure 6 It is a partial structural diagram of the present invention.
[0033] Figure 7 It is a schematic diagram of the combined use mode of the present invention. DETAILED DESCRIPTION
[0034] The present invention will be further described below with reference to the accompanying drawings.
[0035] A lateral adjustment ballast device for an underwater unmanned vehicle comprises a left ballast support frame 1, a lateral adjustment ballast block 2, a ballast adjustment rod 3, a right ballast support frame 4 and a limiting fastening component; the left ballast support frame 1 and the right ballast support frame 4 are connected by the ballast adjustment rod 3, and the lateral adjustment ballast block 2 is arranged on both sides of the ballast support frame and fixed by the limiting fastening component.
[0036] The left ballast support frame 1 and the right ballast support frame 4 both include a frame support rod 7 , and both ends of the frame support rod 7 are respectively provided with a frame end surface connecting component 8 and a rod end thread 9 .
[0037] The horizontal adjustment ballast block 2 adopts a modular design, and its shape and single block weight are adjusted according to the leveling accuracy requirements.
[0038] The ballast adjusting rod 3 is provided with a left-hand thread and a right-hand thread at both ends, respectively, forming a threaded pair connection with the thread of the left ballast support frame 1 and the thread of the right ballast support frame 4. The axial spacing between the left ballast support frame 1 and the right ballast support frame 4 is adjusted by rotating the ballast adjusting rod 3.
[0039] The middle section of the ballast adjustment rod 3 is provided with a flat structure for providing a radial insertion space for the transverse adjustment ballast block 2. The transverse adjustment ballast block 2 is provided with a rod through hole and an opening structure.
[0040] Among them, the outer diameter of the frame support rod 7 is B, the diameter of the rod hole of the horizontal ballast block 2 is D, and the flat structure width of the ballast adjustment rod 3 is G.
[0041] The diameter D of the through-rod hole is larger than the diameter B of the frame support rod 7, and the opening width F is larger than the flat structure width G of the ballast adjustment rod 3, so that the transverse ballast block 2 can be moved axially and inserted radially along the ballast adjustment rod 3, which facilitates the rapid disassembly and assembly of the transverse ballast block 2.
[0042] This device has modular interchangeability, and the leveling and ballast load distribution scheme of underwater unmanned vehicles in the same batch is universal, with good inheritance.
[0043] This transverse ballast device allows for single or multiple combinations, which are connected to the interior of the vehicle through the connecting components 8 at both ends of the frame. Multiple groups of structures are adjusted synchronously to achieve synchronous leveling of the bow and stern and left and right directions of the center of gravity of the underwater unmanned vehicle. The state of the vehicle after installing a single or multiple groups of transverse ballast devices is the vehicle ready state.
[0044] A calculation method based on the specific weight and position coordinate parameter indicators of the above-mentioned transverse ballast device, wherein the weight and position coordinate parameter indicators of the transverse ballast device are calculated according to the principle that the center of gravity coordinates of the horizontal axis and vertical axis of the underwater unmanned vehicle coincide with the center of buoyancy coordinates when the vehicle is in a ready state, satisfying the vehicle's own stability conditions.
[0045] The reference coordinates for calculating the center of gravity and center of buoyancy of the vehicle are defined as follows: the origin O is taken at the intersection of the vertical plane in the longitudinal section center and the end face of the bow of the vehicle, with the bow direction being positive, the starboard side being positive, and the downward direction being positive.
[0046] The weight and position coordinates can be obtained by the following formula:
[0047] W G =W0+W2=(W1+W3)·ρ=W F ·ρ
[0048]
[0049] h=z F -z G
[0050] Where W0 is the weight of the aircraft excluding the ballast device, (x0, y0, z0) is the coordinate of the center of gravity, W1 is the buoyancy volume, (x1, y1, z1) is the coordinate of the center of buoyancy; W2 is the weight of the ballast device of the aircraft, (x2, y2, z2) is the coordinate of the center of gravity, W3 is the buoyancy volume, (x3, y3, z3) is the coordinate of the center of buoyancy; W G is the weight of the aircraft in ready state, (x G ,y G ,z G ) is the coordinate of the center of gravity, W F is the floating volume, (x F ,y F ,z F ) is the coordinate of the center of buoyancy; ρ is the density of the underwater environment of the vehicle, and h is the metacentric height.
[0051] The lateral ballast device is a homogeneous structure, so x2 = x3, y2 = y3, z2 = z3; according to the stability requirements of the aircraft, x G =x F ,y G =y F According to the internal space reserved for the ballast device, the weight and position of each part of the ballast device are redistributed in the bow and stern, port and starboard directions. The weight of each part of the ballast device is W i , the floating volume is W fi 、The coordinates of the center of gravity are (x i ,y i ,z i ); and according to the following formula, the weight and position distribution of each part of the horizontal ballast device are verified to meet the requirements of the total weight W2, buoyancy volume W3, and center of gravity coordinates (x2, y2, z2) of the horizontal ballast device obtained above;
[0052]
[0053] Where n is the total number of ballast structures.
[0054] The calculation method also includes a method for calculating the weight parameters of a single block of the transverse ballast block 2 in the transverse ballast device; the maximum adjustment amount of the single weight m of the transverse ballast block 2 while meeting the transverse accuracy requirements is obtained by the following formula:
[0055] W G ·x G =(W G -m)·L'+m·L1
[0056]
[0057] Wherein, L1 is the X-axis distance from the initial position of the single lateral ballast block 2 to the origin, L is the position adjustment distance of the single lateral ballast block 2, a is the accuracy of the lateral inclination angle caused by the position adjustment of the single lateral ballast block 2, and L' is the X-axis distance from the center of gravity of the vehicle to the origin when the single lateral ballast block 2 is removed in the ready state. Adjust the new coordinates of the vehicle for the single-block transverse ballast block 2 position.
[0058] Example:
[0059] like Figure 1 As shown, the transverse ballast device described in the embodiment of the present invention is mainly composed of a left ballast support frame 1, a transverse ballast block 2, a ballast adjustment rod 3, a right ballast support frame 4, a ballast block stop splint 5, a splint fastening connector 6, etc.
[0060] like Figure 2 As shown, the left ballast support frame 1 and the right ballast support frame 4 of the embodiment of the present invention are mainly composed of a frame support rod 7, a frame end flange 8, and a rod end thread 9; the illustrated dimension A is the length of the ballast support frame, which can be appropriately adjusted according to the size of the ballast arrangement space and the required ballast load; the illustrated dimension B is the diameter of the frame support rod, which should be larger than Figure 3 The diameter D of the rod-through hole of the lateral ballast block 2 shown is slightly smaller to allow the lateral ballast block 2 to move freely on the ballast support rod; Figure 2 The rod end thread 9 shown is a right-hand internal thread on the left ballast support frame 1 and a left-hand internal thread on the right ballast support frame 4. The two left-hand and right-hand internal thread ballast support frames are respectively Figure 4 Use with the left and right external threads shown; Figure 2 The ballast support rod shown has a plurality of through holes in the vertical direction, where the through holes provide nailing and limiting space for the ballast block anti-retraction splint 5 and its splint fastening connector 6.
[0061] like Figure 3 As shown, the main dimensional elements of the transverse ballast block 2 of the embodiment of the present invention are composed of the thickness dimension C of the transverse ballast block, the diameter dimension D of the through-rod hole of the transverse ballast block, the outer diameter dimension E of the transverse ballast block, and the opening width dimension F of the transverse ballast block; among which the thickness dimension C and the outer diameter dimension E are appropriately adjusted according to the size of the ballast arrangement space and the ballast load adjustment accuracy; the through-rod hole diameter dimension D and the opening width dimension F are set according to the relevant dimensions of the structures of the left ballast support frame 1, the ballast adjustment rod 3, and the right ballast support frame 4.
[0062] like Figure 4 As shown, the main dimensional elements of the ballast adjustment rod 3 of the embodiment of the present invention are composed of the ballast adjustment rod flat structure width dimension G, the ballast adjustment rod middle section shaft diameter dimension H, the ballast adjustment rod external thread length dimension J, and the ballast adjustment rod flat structure length dimension K; wherein the middle section shaft diameter dimension H is Figure 1 The diameter dimensions B of the frame support rods are equal, providing space for the free axial movement of the transverse ballast block 2; the width dimension G of the flat structure needs to be slightly smaller than the opening width dimension F of the transverse ballast block 2, so that the transverse ballast block 2 can be freely inserted radially into place through its opening along the surface of the flat structure; the length dimension J of the external thread is appropriately adjusted according to the axial adjustment amount requirement of the ballast structure outfitting space; the length dimension K of the flat structure needs to be slightly larger than the thickness dimension C of the transverse ballast block 2.
[0063] like Figure 1 、 5 As shown, the ballast block anti-retraction splint 5 described in the embodiment of the present invention is a semi-circular ring structure with a hole. The ballast block anti-retraction splint 5 used in pairs provides an effective limiting function for the horizontal adjustment ballast block 2 through the splint fastening connector.
[0064] The specific adjustment implementation process of the transverse ballast structure of the present invention is as follows:
[0065] like Figure 6 As shown, first, the left ballast support frame 1, the ballast adjusting rod 3, and the right ballast support frame 4 are correctly screwed together according to the left and right internal and external threads, and the effective number of screwing turns of the left and right thread pairs is ensured to be consistent, and finally a ballast support frame assembly is formed; the total axial length of the ballast support frame assembly needs to be adjusted by rotating the flat structure on the ballast adjusting rod 3, so that its final total length meets the axial maximum passing dimension of the ballast structure outfitting space; the ballast support frame assembly is placed in its outfitting space and the assembly is straightened so that the flange countersunk holes at both ends are aligned and coincide with the carrier structure outfitting connection holes, and the flat structure on the ballast adjusting rod 3 is rotated to adjust the total length of the ballast support frame assembly so that the flange end faces at both ends are fully fitted with the carrier structure outfitting surface; the ballast support frame assembly with adjusted total length is outfitted and fixed to the underwater unmanned vehicle ballast structure outfitting position by connecting fasteners, completing the preparation work before assembling the transverse ballast block 2.
[0066] like Figure 1 、 6 As shown, after the transverse ballast block 2 is radially inserted into place along the flat structure surface of the ballast adjustment rod 3 through its opening structure, it is moved to the left ballast support frame 1 and the right ballast support frame 4 respectively according to the ballast load distribution requirements for leveling the center of gravity of the underwater unmanned vehicle. The above-mentioned transverse ballast block 2 assembly work is repeated many times until the ballast load distribution requirements are met; the transverse ballast blocks 2 that meet the ballast load distribution requirements at both ends of the ballast support frame assembly are limited and fastened by the paired ballast block stop splints 5 and splint fastening connectors 6.
[0067] like Figure 1 、 6 As shown, the above work is the implementation process of a single set of lateral ballast device according to an embodiment of the present invention; Figure 7As shown, in the embodiment of the present invention, according to the leveling requirement of the gravity and buoyancy center of the underwater unmanned vehicle, the specific distribution of the weight of the transverse adjustment ballast device inside the aircraft can be obtained through the buoyancy stability calculation of the underwater vehicle, and then the ballast device is equipped and arranged according to the calculation result of the distribution of the ballast device. Usually, two or more groups of transverse adjustment ballast devices are used at the same time. Usually, two left and right groups of transverse adjustment ballast devices are arranged at the bow and stern ends of the vehicle respectively to perform synchronous adjustment of the center of gravity in the bow and stern directions and the left and right directions to meet the leveling requirement of the center of gravity of the underwater unmanned vehicle.
[0068] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.
Claims
1. A ballast device for underwater unmanned vehicles, characterized by: The invention comprises a left ballast support frame (1), a transverse ballast block (2), a ballast adjustment rod (3), a right ballast support frame (4) and a position-limiting fastening component; the left ballast support frame (1) and the right ballast support frame (4) are connected via the ballast adjustment rod (3), and the transverse ballast block (2) is arranged on both sides of the ballast support frame and fixed via the position-limiting fastening component; The left ballast support frame (1) and the right ballast support frame (4) both include a frame support rod (7), and both ends of the frame support rod (7) are respectively provided with a frame end surface connection component (8) and a rod end thread (9); The horizontal adjustment ballast block (2) adopts a modular design, and its shape and single block weight are adjusted according to the leveling accuracy requirements.
2. The underwater unmanned vehicle lateral adjustment and ballast device according to claim 1, characterized in that: The ballast adjustment rod (3) is provided with a left-hand thread and a right-hand thread at both ends, respectively, to form a threaded pair connection with the thread of the left ballast support frame (1) and the thread of the right ballast support frame (4), and the axial distance between the left ballast support frame (1) and the right ballast support frame (4) is adjusted by rotating the ballast adjustment rod (3).
3. The underwater unmanned vehicle lateral control and ballast device according to claim 2, characterized in that: The middle section of the ballast adjustment rod (3) is provided with a flat structure for providing a radial insertion space for the transverse adjustment ballast block (2); the transverse adjustment ballast block (2) is provided with a rod through hole and an opening structure.
4. The underwater unmanned vehicle lateral adjustment and ballast device according to claim 3, characterized in that: The outer diameter of the frame support rod (7) is B, the diameter of the rod hole of the horizontal ballast block (2) is D, and the width of the flat structure of the ballast adjustment rod (3) is G.
5. The underwater unmanned vehicle lateral adjustment and ballast device according to claim 4, characterized in that: The diameter D of the rod-through hole is larger than the diameter B of the frame support rod (7), and the opening width F is larger than the flat structure width G of the ballast adjustment rod (3), so that the transverse ballast block (2) can be moved axially and inserted radially along the ballast adjustment rod (3), thereby facilitating the rapid disassembly and assembly of the transverse ballast block (2).
6. The underwater unmanned vehicle lateral control and ballast device according to claim 5, characterized in that: This device has modular interchangeability, and the leveling and ballast load distribution scheme of underwater unmanned vehicles in the same batch is universal, with good inheritance.
7. The underwater unmanned vehicle lateral adjustment and ballast device according to claim 6, characterized in that: The transverse ballast device allows for a single or multiple combination, and is connected to the interior of the vehicle via connecting components (8) at both ends of the frame. Multiple structures are adjusted synchronously to achieve synchronous leveling of the bow and stern and left and right directions of the center of gravity of the underwater unmanned vehicle. The state of the vehicle after installing a single or multiple transverse ballast devices is the vehicle ready state.
8. A method for calculating the specific weight and position coordinate parameter indicators of the lateral ballast device according to claim 7, characterized in that: The weight and position coordinate parameter indicators of the transverse ballast device are calculated based on the principle that the coordinates of the center of gravity and the center of buoyancy of the underwater unmanned vehicle's transverse and longitudinal axes coincide with each other when the underwater unmanned vehicle is in a ready state, and the stability conditions of the vehicle itself are met; W G =W0+W2=(W1+W3)·ρ=W F ·r h=z F -z G Where W0 is the weight of the aircraft excluding the ballast device, (x0, y0, z0) is the coordinate of the center of gravity, W1 is the buoyancy volume, (x1, y1, z1) is the coordinate of the center of buoyancy; W2 is the weight of the ballast device of the aircraft, (x2, y2, z2) is the coordinate of the center of gravity, W3 is the buoyancy volume, (x3, y3, z3) is the coordinate of the center of buoyancy; W G is the weight of the aircraft in ready state, (x G ,y G ,z G ) is the coordinate of the center of gravity, W F is the floating volume, (x F ,y F ,z F ) is the coordinate of the center of buoyancy; ρ is the density of the underwater environment of the vehicle, and h is the metacentric height.
9. The calculation method according to claim 6, characterized in that: The x2=x3, y2=y3, z2=z3; according to the stability requirements of the aircraft, x G =x F ,y G =y F According to the internal space reserved for the ballast device, the weight and position of each part of the ballast device are redistributed in the bow and stern, port and starboard directions. The weight of each part of the ballast device is W i , the floating volume is W fi 、The coordinates of the center of gravity are (x i ,y i ,z i ); and according to the following formula, the weight and position distribution of each part of the horizontal ballast device are verified to meet the requirements of the total weight W2, buoyancy volume W3, and center of gravity coordinates (x2, y2, z2) of the horizontal ballast device obtained above; Where n is the total number of ballast structures.
10. The calculation method according to claim 7, characterized in that: The invention also includes a method for calculating the weight parameter of a single block of the transverse ballast block (2) in the transverse ballast device; the maximum adjustment amount of the single weight m of the transverse ballast block (2) under the condition of meeting the transverse accuracy requirement is obtained by the following formula: W G ·x G =(W G -m)·L'+m·L1 Wherein, L1 is the X-axis distance from the initial position of the single transverse ballast block (2) to the origin, L is the position adjustment distance of the single transverse ballast block (2), a is the transverse tilt angle accuracy generated by the position adjustment of the single transverse ballast block (2), L' is the X-axis distance from the center of gravity to the origin when the vehicle is in a ready state without the single transverse ballast block (2), The new coordinates of the spacecraft are adjusted for the position of the single-block transverse ballast block (2).