Auv multi-propeller power system

Abstract

This invention provides an AUV multi-thrust propulsion system, comprising stabilizers, auxiliary rim thrusters, an AUV stern body, main rim thrusters, fairings, connecting discs, and a tail-mounted connecting frame. The main rim thrusters are fixedly connected to the rear end of the AUV stern body via the connecting discs. The fairings are positioned behind the blades of the main rim thrusters. The four auxiliary rim thrusters are uniformly fixed in a cross shape around the circumference of the AUV stern body. The four stabilizers are arranged in an X-shape on the stern body, staggered and evenly spaced with the four auxiliary rim thrusters. The advantages of this invention are increased maneuverability and controllability while reducing the complexity of the drive mechanism, saving stern space, and increasing the power, maneuverability, and system redundancy of the propulsion system by using multiple rim thrusters, thereby improving the safety, stability, controllability, and mission execution efficiency of the AUV in complex underwater environments.

Description

Technical Field

[0001] This utility model relates to the field of underwater vehicles, and in particular to an AUV multi-thrust propulsion system. Background Technology

[0002] In recent years, with the rapid growth in demand for deep-sea exploration and resource development, the development of underwater vehicles (AUVs), as efficient marine exploration tools, has received considerable attention. However, the shortcomings of existing AUV propulsion system designs in terms of propulsion methods, maneuverability, and stability limit their application in complex aquatic environments. Specifically, in terms of maneuverability, the traditional single-propeller layout results in insufficient steering torque, leading to an excessively large turning radius and significant response delay. This makes it difficult to quickly and flexibly adjust attitude in complex underwater environments and react promptly to environmental changes, hindering the AUV's ability to accurately execute precise operational tasks. In terms of stability, in environments with significant current variations, external current disturbances can have a substantial impact on AUVs, easily causing swaying and deviation from the course. Furthermore, in deep-sea environments, fault tolerance is poor, resulting in low reliability.

[0003] Currently, the application of rim thrusters in AUVs is mainly based on single thrusters. Although they have the advantage of low noise, they have response delay issues in multi-dimensional motion control. They also have a single power source and cannot respond to attitude adjustment requirements in real time. Especially in the high-pressure environment of the deep sea, the fault tolerance and redundancy of a single thruster are insufficient, which limits the reliability of AUV operations. In order to overcome these problems, innovative designs for AUV propulsion systems are needed. Utility Model Content

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] A multi-thrust propulsion system for an AUV includes a stabilizer, auxiliary rim thrusters, an AUV stern body, a main rim thruster, a fairing, a connecting plate, and a tail-mounted connecting frame. The system comprises four auxiliary rim thrusters and four stabilizer. The main rim thrusters are fixedly connected to the tail-mounted connecting frame and to the rear end of the AUV stern body via the connecting plate, along the axial direction of the AUV stern body. The four auxiliary rim thrusters are fixedly connected to the AUV stern body in a cross shape. The stabilizer is arranged in an X-shape on the AUV stern body and is staggered with the auxiliary rim thrusters. A fairing is located behind the blades inside the main rim thruster's fairing.

[0006] The thrust generated by the main wheel rim propulsion propels the AUV along the axial direction of the AUV stern body. It is fixedly connected to the tail connecting frame. The connecting plate is annular with connecting holes in its circumference. The tail connecting frame has nut holes in its circumference that are adapted to the connecting holes. The connecting plate is connected to the tail connecting frame through the nuts.

[0007] The four auxiliary rim thrusters are lower than the height of the four stabilizer wings and are evenly distributed in a cross shape around the circumference of the AUV stern body. They are also set at an angle α with respect to the axis of the AUV stern body, with α ranging from 15° to 30°. The presence of the auxiliary rim thrusters increases the redundancy of the system and improves the reliability of the AUV power system.

[0008] The length direction of the stabilizer is parallel to the axis of the main body of the AUV stern, which improves the longitudinal and lateral stability of the AUV. The stabilizer support frame is filled with a buoyancy material that is resistant to high water pressure and has low density, which reduces the structural weight of the stabilizer and facilitates the balance adjustment of the buoyancy of the AUV stern. The outer frame is covered with high-strength glass fiber cloth.

[0009] The main stern structure of the AUV is torpedo-shaped, and a flange can be installed at its front end to connect with the forward section, making installation and disassembly convenient. A flow straightener is installed behind the propeller blade inside the main wheel rim propeller fairing. The streamlined shape reduces sailing resistance and extends endurance.

[0010] The beneficial effects of this invention are as follows: Modular structure facilitates installation; the combined control of the rim thrusters improves the AUV's steering capability, increasing maneuverability and controllability while reducing the complexity of the drive mechanism, allowing for simpler changes in direction and attitude. It enhances yaw and pitch control efficiency, fully utilizes stern space, and provides more room for the installation of other equipment and systems. This multi-thruster power system improves the AUV's endurance, propulsion efficiency, and stability in complex water conditions. In complex underwater environments, such as when encountering currents, whirlpools, or obstacles, the auxiliary rim thrusters can provide additional thrust, enabling the AUV to achieve rapid acceleration, deceleration, and steering underwater, maintaining excellent heading and avoiding potential loss of power or inability to return due to the failure of one or more thrusters, thus improving mission efficiency. Attached Figure Description

[0011] Figure 1 This is a front view of an AUV multi-thrust propulsion system;

[0012] Figure 2 A top view schematic diagram of a multi-thruster propulsion system for an AUV;

[0013] Figure 3This is a schematic diagram of a multi-thruster connection structure for an AUV;

[0014] Figure 4 This is a schematic diagram of the main rim thruster structure of an AUV with multiple thrusters.

[0015] In the diagram, 1 is the stabilizer; 2 is the auxiliary rim thruster; 3 is the main body of the AUV stern; 4 is the main rim thruster; 5 is the fairing bar; 6 is the connecting disc; and 7 is the tail connecting frame. Detailed Implementation

[0016] All images in this specification are for illustrative purposes only and are intended to help those skilled in the art understand and read the specification. The embodiments of this utility model are described in detail below. The described embodiments are for illustrative purposes only and are not all examples. Based on the implementation examples of this utility model, other implementation examples obtained by those skilled in the art without making creative designs should all fall within the scope of the technical content described in this utility model.

[0017] See Figures 1 to 2 This example illustrates a multi-thrust AUV power system, comprising a stabilizer, auxiliary rim thrusters, an AUV stern body, main rim thrusters, a fairing, a connecting disc, and a tail-mounted connecting frame. The system includes four auxiliary rim thrusters and four stabilizer. The main rim thrusters are fixed to the rear end of the AUV stern body via the connecting disc, and the four auxiliary rim thrusters are fixedly connected to the AUV stern body in a cross shape along the axial direction of the AUV stern body. The stabilizer is arranged in an X-shape on the AUV stern body and is staggered with the auxiliary rim thrusters.

[0018] As an optional implementation, the main rim thruster is located at the rear end of the AUV stern body, providing the main power for the AUV's cruise. It is fixedly connected to the tail connecting frame, and the connecting disc is annular with its raised annular structure matching the groove of the tail connecting frame. The connecting disc has a connecting hole in its circumference, and the tail connecting frame has a nut hole in its circumference that matches the connecting hole. The connecting disc is connected to the tail connecting frame by a high-strength nut.

[0019] refer to Figure 1 and Figure 2As an optional implementation, the length direction of the stabilizer is parallel to the axis of the AUV stern body to suppress the swaying of the AUV in the water flow. The stabilizer includes a stabilizer support frame and internal buoyancy material. The stabilizer support frame is filled with a high-pressure-resistant, low-density buoyancy material, such as glass microsphere composite material. While maintaining the required shape of the stabilizer, the structural weight of the stabilizer can be reduced, the buoyancy of the AUV stern device can be increased, and the difficulty of balancing can be reduced. The outside of the stabilizer support frame is covered with high-strength fiberglass cloth to improve the impact resistance of the stabilizer and avoid damage to the stabilizer. The outermost layer can be coated with a corrosion-resistant coating.

[0020] refer to Figure 1 and Figure 2 As an optional implementation, the four auxiliary rim thrusters are fixed to the stern body of the AUV in a cross shape. The height of the four auxiliary rim thrusters is lower than the height of the stabilizer wing, and their mounting reference planes are established on the horizontal and vertical planes, which reduces the installation difficulty of the stern rim thrusters and improves the installation accuracy of the stern thrusters. The angle α between the axis of the auxiliary rim thruster and the axis of the stern body of the AUV can be 15° to 30°, preferably 22.5°, providing the thrust required by the AUV in acceleration, deceleration and turning operations, enabling the AUV to complete various actions quickly and accurately. Even if the main rim thruster fails, the auxiliary rim thrusters can maintain the basic mobility of the AUV to a certain extent, ensuring the continuation of the mission or enabling the AUV to return safely.

[0021] refer to Figure 2 and Figure 4 As an optional implementation, the main structure of the AUV stern is torpedo-shaped, with a flange at its front end connecting to the front section for easy installation and disassembly. A flow straightener is installed behind the blades inside the main wheel rim propeller fairing to reduce wake turbulence intensity and improve propulsion efficiency.

[0022] As an optional implementation, the AUV multi-thruster power system is equipped with a central controller, which serves as the command center of the entire power system. It is connected to the drive modules of each rim thruster via a bus. When the AUV needs to adjust its attitude, the central controller uses instructions from the navigation system and mission planning system, as well as sensor feedback signals, to calculate the output parameters of each rim thruster through a preset control algorithm, thereby achieving precise control. Meanwhile, the power supply lines of the main rim thruster and the auxiliary rim thruster should be independent of each other.

[0023] refer to Figure 1As an optional implementation, the auxiliary rim thrusters are arranged clockwise from top to bottom as T1 (top), T2 (right), T3 (bottom), and T4 (left), while the main rim thruster is T0. When the AUV needs to yaw to the left, the power output of T3 can be increased while the power output of T2 is decreased or reversed, which will generate a yaw torque to the left, causing the AUV to yaw to the left. When the AUV needs to dive, the power output of T4 can be increased while the power output of T1 is decreased or reversed. Similarly, increasing the power output of T2 while decreasing the power output of T3 or reversing it will cause the AUV to turn to the right. Increasing the power output of T1 while decreasing the power output of T4 or reversing it will cause the AUV to turn downwards.

[0024] As an optional implementation, if the AUV tilts, the four auxiliary rim thrusters can work together to adjust the AUV's horizontal attitude. When the AUV tilts to the left, T2 increases power and T3 decreases power, generating a rightward ...

[0025] The main technical effects of this utility model are as follows:

[0026] This multi-thrust AUV propulsion system offers superior maneuverability compared to traditional propeller-driven AUVs, improving steering efficiency and offering a simpler, more compact system. It not only saves space and increases propulsion efficiency but also suppresses attitude swaying in complex water currents, maintaining AUV stability. In complex underwater environments, AUVs may need to frequently change course to avoid obstacles; this system design enhances maneuverability and safety, effectively preventing propellers from becoming entangled in underwater objects. Furthermore, if the main rim thruster fails, the auxiliary rim thruster can maintain the AUV's basic mobility to a certain extent, ensuring mission continuation or enabling a safe return, allowing the AUV to flexibly respond to various situations.

[0027] The technical principles of this utility model have been described above with reference to specific embodiments. It should be noted that, in this utility model, unless otherwise explicitly specified and limited, the term "installation" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows for mutual communication; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components; moreover, the terms "upper," "left," "right," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application; for those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

Claims

1. An AUV multi-thrust propulsion system, characterized in that: The system includes a stabilizer (1), an auxiliary rim thruster (2), an AUV stern body (3), a main rim thruster (4), a fairing (5), a connecting plate (6), and a tail connecting frame (7). The number of the auxiliary rim thrusters (2) and the stabilizer (1) is four. The main rim thruster (4) is fixedly connected to the tail connecting frame (7) and fixed to the rear end of the AUV stern body (3) along the axis of the AUV stern body (3) via the connecting plate (6). The four auxiliary rim thrusters are fixedly connected to the AUV stern body (3) in a cross shape. The stabilizer (1) is arranged in an X shape on the AUV stern body (3) and is staggered with the auxiliary rim thrusters (2). A fairing (5) is provided behind the blade of the main rim thruster (4).

2. The AUV multi-thruster power system according to claim 1, characterized in that, The main wheel flange propeller (4) is fixedly connected to the tail connecting frame (7). The connecting disc (6) is annular and has a connecting hole in its circumference. The tail connecting frame (7) has a nut hole in its circumference that matches the connecting hole. The connecting disc (6) is connected to the tail connecting frame (7) through the nut.

3. The AUV multi-thrust propulsion system according to claim 1, characterized in that, The four auxiliary rim thrusters (2) are evenly distributed in a cross shape around the circumference of the AUV stern body (3) and are set at an angle α with respect to the axial direction of the AUV stern body (3).

4. The AUV multi-thrust propulsion system according to claim 1, characterized in that, The length direction of the stabilizer (1) is parallel to the axis direction of the main body (3) of the AUV stern. The stabilizer (1) frame is filled with buoyancy material, and the height of the stabilizer (1) is greater than the height of the auxiliary rim thruster (2).

5. The AUV multi-thruster power system according to claim 1, characterized in that, The main body (3) of the AUV has a torpedo-shaped structure, and a straightening bar (5) is provided behind the blade inside the main wheel rim propeller (4) fairing.

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