CN105836082A - Motion posture control device for underwater glider - Google Patents
Motion posture control device for underwater glider Download PDFInfo
- Publication number
- CN105836082A CN105836082A CN201610157587.6A CN201610157587A CN105836082A CN 105836082 A CN105836082 A CN 105836082A CN 201610157587 A CN201610157587 A CN 201610157587A CN 105836082 A CN105836082 A CN 105836082A
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- China
- Prior art keywords
- underwater glider
- oil
- motion
- electromagnetic valve
- pressure hull
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention provides a motion posture control device for an underwater glider. The underwater glider comprises a tubular pressure-resistant shell, a bow fairing arranged at the front end of the pressure-resistant shell, and a stern fairing arranged at the rear end of the pressure-resistant shell. A front sealing plate is arranged between the pressure-resistant shell and the bow fairing. A rear sealing plate is arranged between the pressure-resistant shell and the stern fairing. The motion posture control device comprises a motion mechanism, an oil distribution system and a control mechanism. By the adoption of the motion posture control device for the underwater glider, pitching motion and roll motion of the underwater glider can be controlled at the same time, and extra buoyancy can be provided for the underwater glider to make the underwater glider emerge from the water in an accelerating mode; the pitching motion or roll motion of the underwater glider can be controlled independently; and in addition, the pitching motion and roll motion of the underwater glider can be achieved under the condition that only a hydraulic cylinder in the oil distribution system works, and therefore the motion posture control device has the advantages of being convenient to operate, reliable in control and the like.
Description
Technical field
The invention belongs to underwater glider technical field, relate to the fortune of a kind of underwater glider
Dynamic attitude-control device.
Background technology
Underwater glider is a kind of novel underwater robot.Owing to it utilizes net buoyancy and appearance
State angle adjusts and obtains propulsive force, and energy resource consumption is minimum, only when adjusting net buoyancy and attitude angle
Consume a small amount of energy, and there is efficiency height, the spy of endurance big (up to thousands of kilometers)
Point.Although the headway of underwater glider is relatively slow, but its manufacturing cost and maintenance cost is low,
Reusable and can the feature such as input in a large number, meet for a long time, on a large scale ocean visit
The needs of rope.
The underwater motion mode of underwater glider can be decomposed into flexion-extension, roll and sink-float
Action, underwater glider is to realize gliding by the buoyant state and attitude angle changing self
Motion, i.e. under conditions of keeping himself gravity constant, change the displacement hull of aerodone
Long-pending, thus change the buoyant state of aerodone；By changing the position of aerodone internal part
Change the position of center of gravity, thus change the attitude angle (angle of pitch and roll angle) of carrier
When underwater glider is in negative buoyancy force state and the angle of pitch for bearing, under aerodone starts to perform
Latent motion；When underwater glider is in positive buoyancy state and the angle of pitch is timing, and aerodone leaves
Begin to perform motion of floating；Continuously perform dive, motion of floating, be formed for a zigzag sliding
Xiang track.During dive and motion of floating, just may be used by changing the roll angle of carrier
To realize the control to aerodone course.
It is all to be adjusted by its internal attitude that the angle of pitch of underwater glider and roll angle change
Regulating device realizes, and therefore underwater glider motion attitude control device is to control underwater gliding
One of key device of machine kinestate.Owing to aerodone internal part is more accurate, can change
The parts that displacement is put are relatively light, cause the change of aerodone entirety position of centre of gravity little, affect pitching
Angle with roll.
Summary of the invention
It is an object of the invention to there are the problems referred to above for existing technology, it is proposed that a kind of
The motion attitude control device of underwater glider, the present invention can control underwater gliding simultaneously
The elevating movement of machine and roll motion and extra buoyancy can be provided to underwater glider
Making underwater glider to emerge post, the present invention can also individually control under water
The elevating movement of aerodone or roll motion, and only hydraulic pressure in oil distribution system
In the case of cylinder working, the present invention can also realize elevating movement and the roll of underwater glider
Motion, therefore has the advantages such as easy to operate, control is reliable.
The purpose of the present invention can be realized by following technical proposal: a kind of underwater glider
Motion attitude control device, described underwater glider includes the pressure hull of tubulose, sets
Put the bow trousers in pressure hull front end whole with the stern being arranged on pressure hull rear end
Stream cover, is provided with front shrouding between described pressure hull and bow trousers, described pressure
Rear shrouding, described motion attitude control device bag it is provided with between housing and stern trousers
Include motion, oil distribution system and controlling organization；
Described motion includes accumulator battery, hydraulic cylinder, leading screw one, described hydraulic cylinder
Including cylinder body, being provided with piston in described cylinder body, the side of piston is fixed with piston rod,
The free end of piston rod is positioned at cylinder body outside and piston rod is movably arranged on the one of cylinder body
End, the other end of described cylinder body is provided with main oil pipe, on the inwall of described pressure hull
It is arranged with two tracks in parallel, the length direction of described track and pressure hull axis direction
Unanimously, described track sliding and is provided with mobile platform, the upside of described mobile platform sets
Being equipped with accumulator battery, the downside of described moving platform is provided with feed screw nut, described leading screw one
Being arranged in feed screw nut by screw thread, one end of described leading screw one and can drive leading screw
One force piece rotated is connected, and the free end of other end and piston rod is connected；
Described oil distribution system includes fuel tank, oil sac two and oil sac three, described pressure hull
The left and right sides of rear end is respectively arranged with left cargo tank and right cargo tank, and described oil sac two is arranged on
In left cargo tank, described oil sac three is arranged in right cargo tank, and described oil sac two is by oil pipe two
Connecting with main oil pipe, described oil sac three is connected with main oil pipe by oil pipe three, described oil pipe
It is provided with electromagnetic valve two on two, described oil pipe three is provided with electromagnetic valve four, described main oil
Being provided with electromagnetic valve three on pipe, described fuel tank is connected with working connection by main line, described
Main line is positioned at the outlet side of electromagnetic valve three, and described main line is provided with electromagnetic valve one,
Being provided with bye-pass on described main line, the two ends of described bye-pass lay respectively at electromagnetic valve
The two ends of one, described bye-pass is provided with oil pump and check valve, described pressure hull rear end
Left side be provided with several water holes one, one left cargo tank of described water hole and pneumatic shell
The outer wall connection of body, the right side of described pressure hull rear end is provided with several water holes two,
Two right cargo tanks of described water hole connect with the outer wall of pressure hull；
Described controlling organization includes microcomputer and gyroscope, described microcomputer and
Gyroscope electrically connect, described electromagnetic valve two, electromagnetic valve three, electromagnetic valve four, electromagnetic valve one,
Oil pump and force piece are all electrically connected by wire and microcomputer.
In the motion attitude control device of above-mentioned a kind of underwater glider, described force piece
Being motor one, described motor one is arranged on front shrouding, described motor
The outer wall of the housing of is connected by the inwall of several bracing frames two and pressure hull, institute
State motor one to be electrically connected by wire and microcomputer.
In the motion attitude control device of above-mentioned a kind of underwater glider, described movement is put down
On platform, the horizontally-parallel of pressure hull is provided with two chutes, arranges in described chute
Having slide block, described slide block is fixed with mounting platform, described accumulator battery is connected in installation
On platform, the cross section of described chute and slide block is the most T-shaped, on described mobile platform also
It is provided with the drive mechanism that drive installation platform moves back and forth along chute.
In the motion attitude control device of above-mentioned a kind of underwater glider, described driving machine
Structure includes motor two, fixed block and leading screw two, described motor two and fixed block
Being each attached on mobile platform and be oppositely arranged, described leading screw two is threadedly attached in
On mounting platform, one end of described leading screw two and the output shaft fixed connection of motor two, separately
Outer one end is rotatably connected on fixed block, and described motor two is by wire and microcomputer
Calculate mechatronics.
In the motion attitude control device of above-mentioned a kind of underwater glider, mobile platform
The left and right sides is respectively arranged with some connection posts, and the free end of every described connection post is equal
It is rotatably connected to roller, the opposite flank of guide rail described in two is provided with lateral slot, institute
Gathering sill, described lateral slot and gathering sill alongst it is provided with even in stating guide rail
Logical, described roller is arranged in gathering sill, and described connection post is positioned at lateral slot.
In the motion attitude control device of above-mentioned a kind of underwater glider, described hydraulic cylinder
Being coaxially disposed with pressure hull, the cylinder body of described hydraulic cylinder passes through bracing frame one and pneumatic shell
The inwall of body is connected.
In the motion attitude control device of above-mentioned a kind of underwater glider, in described fuel tank
Being provided with oil sac one, described oil sac one is connected with main oil pipe by main line, described fuel tank
Between left cargo tank and right cargo tank and in the laterally centered setting of pressure hull.
In the motion attitude control device of above-mentioned a kind of underwater glider, described bow is whole
Stream cover is in cone.
Compared with prior art, the present invention can control the pitching fortune of underwater glider simultaneously
Dynamic and roll motion and extra buoyancy can be provided to make underwater gliding to underwater glider
Machine can emerge post, and the present invention can also individually control bowing of underwater glider
Face upward motion or roll motion, and in oil distribution system, only have the feelings of hydraulic cylinder works
Under condition, the present invention can also realize elevating movement and the roll motion of underwater glider, therefore
There is the advantages such as easy to operate, control is reliable.
Accompanying drawing explanation
Fig. 1 is present invention structure sectional view when overlooking.
Structure sectional view when Fig. 2 is side-looking of the present invention.
Fig. 3 is the sectional view in Fig. 1 at A-A.
Fig. 4 is the enlarged drawing in Fig. 2 at B.
Fig. 5 is the enlarged drawing in Fig. 2 at C.
Fig. 6 is the enlarged drawing in Fig. 3 at D.
In figure, 1, pressure hull；1a, bow trousers；1b, stern trousers；1c、
Rear shrouding；1d, front shrouding；1e, water hole one；1e1, water hole two；1f, left oil
Cabin；1g, right cargo tank；2, hydraulic cylinder；2a, cylinder body；2b, piston；2c, bracing frame
One；2d, piston rod；3, motor one；3a, bracing frame two；4, leading screw one；5、
Gyroscope；6, oil sac two；7, oil sac three；8, working connection；8a, electromagnetic valve three；9、
Oil pipe two；9a, electromagnetic valve two；10, oil pipe three；10a, electromagnetic valve four；11, fuel tank；
11a, main line；11b, bye-pass；11c, electromagnetic valve one；11d, oil pump；11e、
Check valve；11f, oil sac one；12, accumulator battery；13, track；14, motor
Two；15, leading screw two；16, mobile platform；16a, roller；16b, chute；16c、
Feed screw nut；16d, fixed block；16e, gathering sill；16f, lateral slot；16g, company
Connect post；17, mounting platform；17a, slide block；18, microcomputer.
Detailed description of the invention
The following is the specific embodiment of the present invention and combine accompanying drawing, the technical side to the present invention
Case is further described, but the present invention is not limited to these embodiments.
Embodiment one
As shown in Figures 1 to 6, the motion attitude control device of a kind of underwater glider,
Described underwater glider includes the pressure hull 1 of tubulose, is arranged on pressure hull 1 front end
Bow trousers 1a and be arranged on the stern trousers 1b of pressure hull 1 rear end, institute
State and between pressure hull 1 and bow trousers 1a, be provided with front shrouding 1d, described pressure
Rear shrouding 1c, described athletic posture control it is provided with between housing 1 and stern trousers 1b
Device processed includes motion, oil distribution system and controlling organization；
Described motion includes accumulator battery 12, hydraulic cylinder 2, leading screw 1, described
Hydraulic cylinder 2 includes cylinder body 2a, is provided with piston 2b, piston 2b in described cylinder body 2a
Side be fixed with piston rod 2d, the free end of piston rod 2d is positioned at outside cylinder body 2a also
And piston rod 2d is movably arranged on one end of cylinder body 2a, the other end of described cylinder body 2a
It is provided with main oil pipe 8, the inwall of described pressure hull 1 is arranged with in parallel two tracks
13, the length direction of described track 13 is consistent with pressure hull 1 axis direction, described rail
Sliding on road 13 and be provided with mobile platform 16, the upside of described mobile platform 16 is provided with
Accumulator battery 12, the downside of described moving platform 16 is provided with feed screw nut 16c, described silk
Thick stick 1 is arranged in feed screw nut 16c by screw thread, one end of described leading screw 1 and
One can drive the force piece that leading screw 1 rotates to be connected, other end and piston rod 2d from
It is connected by end；
Described oil distribution system includes fuel tank 11, oil sac 26 and oil sac 37, described resistance to
The left and right sides of pressure shell body 1 rear end is respectively arranged with left cargo tank 1f and right cargo tank 1g, institute
Stating oil sac 26 to be arranged in left cargo tank 1f, described oil sac 37 is arranged on right cargo tank 1g
In, described oil sac 26 is connected with main oil pipe 8 by oil pipe 29, described oil sac 37
Connected with main oil pipe 8 by oil pipe 3 10, described oil pipe 29 is provided with electromagnetic valve two
9a, described oil pipe 3 10 is provided with electromagnetic valve four 10a, and described main oil pipe 8 is arranged
Electromagnetic valve three 8a, described fuel tank 11 is had to be connected with working connection 8 by main line 11a,
Described main line 11a is positioned at the outlet side of electromagnetic valve three 8a, described main line 11a
On be provided with electromagnetic valve one 11c, described main line 11a is provided with bye-pass 11b, institute
The two ends stating bye-pass 11b lay respectively at the two ends of electromagnetic valve one 11c, described bye-pass
Oil pump 11d and check valve 11e, the left side of described pressure hull 1 rear end it is provided with on 11b
Being provided with several water holes one 1e, described water hole one 1e is left cargo tank 1f and pneumatic shell
The outer wall connection of body 1, the right side of described pressure hull 1 rear end is provided with several and crosses water
Hole two 1e1, described water hole two 1e1 are the outer wall of right cargo tank 1g and pressure hull 1 even
Logical；
Described controlling organization includes microcomputer 18 and gyroscope 5, described miniature calculating
Machine 18 and gyroscope 5 electrically connect, described electromagnetic valve two 9a, electromagnetic valve three 8a, electromagnetism
Valve four 10a, electromagnetic valve one 11c, oil pump 11d and force piece are all by wire and microcomputer
Calculation machine 18 electrically connects.
All electrical equipments in underwater glider all have accumulator battery 12 to power, i.e. electric power storage
Pond group 12 and all electrical equipments are all electrically connected by wire.
Gyroscope 5 is provided that the orientation accurately of underwater glider, level, position, speed
The signals such as degree and acceleration, and relevant information is passed to microcomputer 18, miniature
Computer 18 controls electromagnetic valve one 11c, electromagnetic valve two 9a, electromagnetic valve three 8a, electromagnetism
Valve four 10a, oil pump 11d, force piece work.
Specifically, the effect of described left cargo tank 1f and right cargo tank 1g is fixing and protection
Oil sac 26 and oil sac 37, prevent oil sac 26 and oil sac 37 at pressure hull 1
Miscellaneous equipment contacts, and prevents oil sac 26 and oil sac 37 from damaging, is also prevented from simultaneously
Prevent oil sac 26 and oil sac 37 from damaging the miscellaneous equipment of pressure hull 1；
The most left cargo tank 1f and right cargo tank 1g also acts as the effect of ballast tank, i.e. can lead to
Cross left cargo tank 1f and right cargo tank 1g to regulate the buoyancy of underwater glider, water hole one 1e
Left cargo tank 1f is connected with extraneous water body, makes the water body in the external world can pass through water hole one
1e passes in and out left cargo tank 1f, water hole two 1e1 and right cargo tank 1g is connected with extraneous water body, makes
Extraneous water body can pass in and out right cargo tank 1g by water hole two 1e1, when oil sac 26 He
When oil mass in oil sac 37 increases, the volume of oil sac 26 and oil sac 37 increases, left
Water body in cargo tank 1f and right cargo tank 1g is respectively by water hole one 1e and water hole two
1e1 is discharged to outside underwater glider, and now the buoyancy of underwater glider increases the most under water
Aerodone floats, otherwise the buoyancy of underwater glider reduces, beneficially under underwater glider
Latent.
During the original state of the motion attitude control device of this underwater glider, oil sac 26,
Oil sac 37, fuel tank 11 and hydraulic cylinder 2 are respectively provided with appropriate hydraulic oil so that under water
Aerodone is in the buoyancy poised state equal to gravity.
The motion attitude control device of this underwater glider has following several duty；
1. carrying out elevating movement, electromagnetic valve two 9a, electromagnetic valve four 10a close, electromagnetic valve
Three 8a and electromagnetic valve one 11c open, and force piece drives leading screw 1 to rotate, when mobile flat
Platform 16 drives accumulator battery 12 to move toward stern trousers 1b direction, and leading screw 1
Piston 2b is promoted to move toward stern trousers 1b direction by piston rod 2d so that cylinder body
Hydraulic oil in 2a is flowed in fuel tank 11 by electromagnetic valve three 8a and electromagnetic valve one 11c,
So that the center of gravity of underwater glider is moved backward, bow trousers 1a position raises, stern
Trousers 1b position reduces, and underwater glider starts to climb；Otherwise, force piece passes through silk
Thick stick 1 drives mobile platform 16 and accumulator battery 12 to move toward bow trousers 1a, oil
Pump 11d is transported to the hydraulic oil in fuel tank 11 in cylinder body 2a by bye-pass 11b,
So that the center of gravity of underwater glider reduces toward reach, bow trousers 1a position, stern
Trousers 1b position raises, and now underwater glider starts to dive.
2. carrying out another situation of elevating movement, electromagnetic valve one 11c closes, electromagnetism
Valve two 9a, electromagnetic valve three 8a and electromagnetic valve four 10a open, and now carry when leading screw 1
When dynamic mobile platform 16 and accumulator battery 12 are moved toward stern trousers 1b direction, piston
2b promotes the hydraulic oil equivalent respectively in cylinder body 2a to be flowed into oil sac 26 and oil sac 37
In, now the center of gravity of underwater glider is moved backward, and along with oil sac 26 and oil sac three
The increase of hydraulic pressure oil mass in 7, the buoyancy of underwater glider is also gradually increased, so under water
Aerodone starts to climb, and along with the increase of buoyancy gradually starts to accelerate；Otherwise work as silk
Thick stick 1 drives mobile platform 16 and accumulator battery 12 to move toward bow trousers 1a direction
Time, by piston 2b, the hydraulic oil in oil sac 26 and oil sac 37 is sucked back into cylinder body
In 2a, now the center of gravity of underwater glider is toward reach, and along with oil sac 26 and oil sac
The minimizing of hydraulic pressure oil mass in 37, the buoyancy of underwater glider is also gradually reduced, and slides under water
Xiang machine starts to dive and along with the reduction of buoyancy gradually starts to accelerate.
Carry out elevating movement and roll motion, electromagnetic valve four 10a and electromagnetic valve one the most simultaneously
11c closes, and electromagnetic valve two 9a, electromagnetic valve three 8a open, and now drives when leading screw 1
When mobile platform 16 and accumulator battery 12 are moved toward stern trousers 1b direction, piston
2b promotes the hydraulic oil in cylinder body 2a to be flowed in oil sac 26, now underwater glider
Center of gravity move backward and be partial to left side, so now underwater glider start to climb and
Entirety turns left；Additionally electromagnetic valve two 9a and electromagnetic valve one 11c closes, electromagnetic valve four
10a, electromagnetic valve three 8a open, and now drive mobile platform 16 and electric power storage when leading screw 1
When pond group 12 is moved toward stern trousers 1b direction, piston 2b promotes in cylinder body 2a
Hydraulic oil is flowed in oil sac 37, and now the center of gravity of underwater glider is moved and partially backward
To the right, so now underwater glider starts to climb and entirety turns right；
When the center of gravity needing underwater glider toward reach and is partial to left side, i.e. underwater gliding
Machine starts to dive and entirety is when turning left, and mobile platform 16 is toward bow trousers 1a
Moving in direction, fuel tank 11 carries liquid by oil pump 11d in hydraulic cylinder 2 and oil sac 26
Force feed.
When the center of gravity needing underwater glider toward reach and is partial to right side, i.e. underwater gliding
Machine starts to dive and entirety is when turning right, and mobile platform 16 is toward bow trousers 1a
Moving in direction, fuel tank 11 carries liquid by oil pump 11d in hydraulic cylinder 2 and oil sac 37
Force feed.
On the whole, by the underwater glider that controls of oil sac 26 and oil sac 27
Roll motion, i.e. turns left and turns right, and collects in oil distribution system temporary transient by fuel tank 11
Unnecessary hydraulic oil or give oil distribution system replenisher force feed, the distribution of hydraulic oil is passed through
Realization is opened in the opening and closing of each electromagnetic valve, and the conveying of hydraulic oil is by leading screw 1 band hydrodynamic pressure
The operating of the piston 2b and oil pump 11d of cylinder 2 realizes.
In above-mentioned 3, situation is only intended to illustrate by each electromagnetic valve, oil pump 11d, move
Cooperating of power part, it is possible to achieve the multi-motion state of underwater glider, but this
A little kinestates are not limited to above-mentioned several, and additionally include that other can realize is each
The state of kind.
Specifically, described force piece is motor 1, described motor 1
Being arranged on front shrouding 1d, the outer wall of the housing of described motor 1 passes through several
The inwall of bracing frame two 3a and pressure hull 1 is connected, and described motor 1 is by leading
Line and microcomputer 18 electrically connect.Motor is that electric impulse signal is changed into position, angle
Move or the opened loop control unit motor part of displacement of the lines.In the case of non-overload, motor
Rotating speed, the position of stopping is solely dependent upon frequency and the umber of pulse of pulse signal, and is not subject to
The impact of load change, when step actuator receives a pulse signal, it just drives
Motor rotates a fixing angle by the direction set, and is referred to as " step angle ",
Its rotation is to run step by step with fixing angle.Can be by controlling pulse
Number carrys out pilot angle displacement, thus reaches the purpose being accurately positioned；Simultaneously can be by control
Pulse frequency processed controls speed and the acceleration of electric machine rotation, thus reaches the mesh of speed governing
's.
Specifically, described mobile platform 16 sets along the horizontally-parallel of pressure hull 1
It is equipped with two chute 16b, in described chute 16b, is provided with slide block 17a, described slide block
Being fixed with mounting platform 17 on 17a, described accumulator battery 12 is connected in mounting platform 17
On, the cross section of described chute 16b and slide block 17a is the most T-shaped, described mobile platform
The driving machine that drive installation platform 17 moves back and forth it is additionally provided with along chute 16b on 16
Structure, the cross section of chute 16b and slide block 17a is the most T-shaped is possible to prevent slide block 17a to take off
From chute 16b.
Moved back and forth along chute 16b by drive mechanism drive installation platform 17, permissible
Realize the roll of underwater glider, hydraulic cylinder 2 can be only had in oil distribution system to work
In the case of, it is achieved the roll motion of underwater glider, and by mobile platform 16
Moving back and forth on track 13 realizes the elevating movement of underwater glider.
Specifically, described drive mechanism include motor 2 14, fixed block 16d and
Leading screw 2 15, described motor 2 14 and fixed block 16d are each attached to mobile platform
On 16 and be oppositely arranged, described leading screw 2 15 is threadedly attached in mounting platform 17
On, one end of described leading screw 2 15 and the output shaft fixed connection of motor 2 14, additionally
One end is rotatably connected on fixed block 16d, and described motor 2 14 is by wire and micro-
Type computer 18 electrically connects.
Specifically, the left and right sides of mobile platform 16 is respectively arranged with some connection posts
16g, the free end of every described connection post 16g is all rotatably connected to roller 16a, two institutes
State and on the opposite flank of guide rail 13, be provided with lateral slot 16f, edge in described guide rail 13
Length direction and be provided with gathering sill 16e, described lateral slot 16f and gathering sill 16e
Connection, described roller 16a is arranged in gathering sill 16e, and described connection post 16g is positioned at
In lateral slot 16f.
Mobile platform 16 is arranged in gathering sill 16e by roller 16a so that mobile flat
Platform 16 is when moving back and forth along track 13, and the frictional force being subject to is little, moves smooth and easy.
Specifically, described hydraulic cylinder 2 and pressure hull 1 are coaxially disposed, described hydraulic pressure
The cylinder body 2a of cylinder 2 is connected by the inwall of bracing frame one 2c and pressure hull 1.
Specifically, described bow trousers 1a is cone.The bow rectification of cone
Cover 1a is conducive to reducing the water body resistance to underwater glider, reduces the energy of underwater glider
Consumption, increases voyage.
Oil sac 26 and oil sac 37 have contractility, when the piston in hydraulic cylinder 2 is toward bow
During the motion of trousers direction, portion, at electromagnetic valve two 9a, electromagnetic valve four 10a and electromagnetic valve
In the case of three 8a open, it is not necessary to extra operation just can be automatically oil sac 26
It is drawn onto in hydraulic cylinder 2 with the hydraulic oil in oil sac 37
Embodiment two
The content of embodiment two is the most identical with embodiment one, and different places is, institute
Stating and be provided with oil sac one 11f in fuel tank 11, described oil sac one 11f passes through main line 11a
Connect with main oil pipe 8, described fuel tank 11 between left cargo tank 1f and right cargo tank 1g also
And in the laterally centered setting of pressure hull 1.
Fuel tank 11 plays the fixing and effect of protection oil sac one 11f, and oil sac one 11f has
Contractility, when the piston in hydraulic cylinder 2 moves toward bow trousers direction, at electromagnetism
In the case of valve one 11c and electromagnetic valve three 8a opens, it is not necessary to play oil pump 11d and just may be used
Automatically the hydraulic oil in oil sac one 11f is drawn onto in hydraulic cylinder 2, simple in construction, joint
The about energy, is conducive to improving the flying power of this underwater glider.
Specific embodiment described herein is only to present invention spirit theory for example
Bright.Those skilled in the art can be to described specific embodiment
Make various amendment or supplement or use similar mode to substitute, but without departing from
The spirit of the present invention or surmount scope defined in appended claims.
Claims (8)
1. a motion attitude control device for underwater glider, described underwater glider bag
Include the pressure hull (1) of tubulose, be arranged on the bow trousers of pressure hull (1) front end
And be arranged on the stern trousers (1b) of pressure hull (1) rear end, (1a) described resistance to
Front shrouding (1d) it is provided with between pressure shell body (1) and bow trousers (1a), described resistance to
Being provided with rear shrouding (1c) between pressure shell body (1) and stern trousers (1b), it is special
Levying and be, described motion attitude control device includes motion, oil distribution system and control
Mechanism processed；
Described motion includes accumulator battery (12), hydraulic cylinder (2), leading screw one (4),
Described hydraulic cylinder (2) includes cylinder body (2a), is provided with piston in described cylinder body (2a)
(2b), the side of piston (2b) is fixed with piston rod (2d), piston rod (2d)
Free end is positioned at cylinder body (2a) outside and piston rod (2d) is movably arranged on cylinder body (2a)
One end, the other end of described cylinder body (2a) is provided with main oil pipe (8), described resistance to
Two tracks (13), described track (13) it is arranged with in parallel on the inwall of pressure shell body (1)
Length direction consistent with pressure hull (1) axis direction, described track (13) is upper sliding
Moving and be provided with mobile platform (16), the upside of described mobile platform (16) is provided with electric power storage
Pond group (12), the downside of described moving platform (16) is provided with feed screw nut (16c), institute
State leading screw one (4) to be arranged in feed screw nut (16c) by screw thread, described leading screw one
(4) force piece that one end and can drive leading screw one (4) to rotate is connected, and other one
The free end of end and piston rod (2d) is connected；
Described oil distribution system includes fuel tank (11), oil sac two (6) and oil sac three (7),
The left and right sides of described pressure hull (1) rear end is respectively arranged with left cargo tank (1f) and the right side
Cargo tank (1g), described oil sac two (6) is arranged in left cargo tank (1f), described oil sac
Three (7) are arranged in right cargo tank (1g), and described oil sac two (6) is by oil pipe two (9)
Connecting with main oil pipe (8), described oil sac three (7) is by oil pipe three (10) and main oil
Pipe (8) connection, described oil pipe two (9) is provided with electromagnetic valve two (9a), described oil
Being provided with electromagnetic valve four (10a) on pipe three (10), described main oil pipe is provided with on (8)
Electromagnetic valve three (8a), described fuel tank (11) passes through main line (11a) and working connection (8)
Connection, described main line (11a) is positioned at the outlet side of electromagnetic valve three (8a), described
Electromagnetic valve one (11c) it is provided with, on described main line (11a) on main line (11a)
Being provided with bye-pass (11b), the two ends of described bye-pass (11b) lay respectively at electromagnetic valve
The two ends of one (11c), described bye-pass (11b) is provided with oil pump (11d) and list
To valve (11e), the left side of described pressure hull (1) rear end is provided with several water holes
One (1e), described water hole one (1e) is left cargo tank (1f) and pressure hull (1)
Outer wall connects, and the right side of described pressure hull (1) rear end is provided with several water holes two
(1e1), described water hole two (1e1) is right cargo tank (1g) and pressure hull (1)
Outer wall connection；
Described controlling organization includes microcomputer (18) and gyroscope (5), described micro-
Type computer (18) and gyroscope (5) electrical connection, described electromagnetic valve two (9a), electricity
Magnet valve three (8a), electromagnetic valve four (10a), electromagnetic valve one (11c), oil pump (11d)
All electrically connected by wire and microcomputer (18) with force piece.
The motion attitude control dress of a kind of underwater glider the most according to claim 1
Put, it is characterised in that described force piece is motor one (3), described motor
One (3) is arranged on front shrouding (1d), the housing of described motor one (3)
Outer wall is connected by the inwall of several bracing frames two (3a) and pressure hull (1), institute
State motor one (3) to be electrically connected by wire and microcomputer (18).
The athletic posture control of a kind of underwater glider the most according to claim 1 and 2
Device processed, it is characterised in that along pressure hull (1) on described mobile platform (16)
Horizontally-parallel be provided with two chutes (16b), be provided with cunning in described chute (16b)
Block (17a), described slide block (17a) is fixed with mounting platform (17), described accumulator battery
(12) it is connected on mounting platform (17), described chute (16b) and slide block (17a)
Cross section the most T-shaped, described mobile platform (16) is additionally provided with drive installation put down
The drive mechanism that platform (17) moves back and forth along chute (16b).
The motion attitude control dress of a kind of underwater glider the most according to claim 3
Put, it is characterised in that described drive mechanism includes motor two (14), fixed block (16d)
With leading screw two (15), described motor two (14) and fixed block (16d) are the most fixing
Above and being oppositely arranged at mobile platform (16), described leading screw two (15) passes through screw thread
It is connected on mounting platform (17), one end of described leading screw two (15) and motor
The output shaft fixed connection of two (14), other end is rotatably connected on fixed block (16d),
Described motor two (14) is electrically connected by wire and microcomputer (18).
The motion attitude control dress of a kind of underwater glider the most according to claim 4
Put, it is characterised in that the left and right sides of mobile platform (16) is respectively arranged with some
Connecting post (16g), the free end of every described connection post (16g) is all rotatably connected to rolling
Wheel (16a), the opposite flank of guide rail described in two (13) is provided with lateral slot (16f),
Gathering sill (16e), described side alongst it is provided with in described guide rail (13)
Connecting with gathering sill (16e) to groove (16f), described roller (16a) is arranged on guiding
In groove (16e), described connection post (16g) is positioned at lateral slot (16f).
The motion attitude control dress of a kind of underwater glider the most according to claim 5
Put, it is characterised in that described hydraulic cylinder (2) and pressure hull (1) are coaxially disposed,
The cylinder body (2a) of described hydraulic cylinder (2) passes through bracing frame one (2c) and pressure hull (1)
Inwall be connected.
The motion attitude control dress of a kind of underwater glider the most according to claim 1
Put, it is characterised in that described fuel tank (11) is provided with oil sac one (11f), described
Oil sac one (11f) is connected with main oil pipe (8) by main line (11a), described fuel tank
(11) it is positioned between left cargo tank (1f) and right cargo tank (1g) and in pressure hull (1)
Laterally centered setting.
The motion attitude control dress of a kind of underwater glider the most according to claim 1
Put, it is characterised in that described bow trousers (1a) is in cone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157587.6A CN105836082A (en) | 2016-03-18 | 2016-03-18 | Motion posture control device for underwater glider |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157587.6A CN105836082A (en) | 2016-03-18 | 2016-03-18 | Motion posture control device for underwater glider |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610157587.6A Pending CN105836082A (en) | 2016-03-18 | 2016-03-18 | Motion posture control device for underwater glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106335616A (en) * | 2016-09-08 | 2017-01-18 | 哈尔滨工程大学 | Thrust distribution method for overdriven remote control working underwater robot |
| CN107891957A (en) * | 2017-10-27 | 2018-04-10 | 北京精密机电控制设备研究所 | A kind of centre of buoyancy center of gravity regulation and buoyancy regulating device for submersible |
| CN107957679A (en) * | 2017-11-28 | 2018-04-24 | 武汉理工大学 | A kind of automatic rudder system based on high-precision screw stepper motor and self-setting PID arithmetic |
| CN108116644A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
| CN108454809A (en) * | 2017-12-28 | 2018-08-28 | 中国船舶重工集团公司第七0研究所 | A kind of automatic buoyancy of double-pump type and attitude regulating mechanism |
| CN109162718A (en) * | 2018-10-26 | 2019-01-08 | 浙江海洋大学 | A kind of deep sea deposits acquisition system |
| CN111516839A (en) * | 2020-05-26 | 2020-08-11 | 中国船舶科学研究中心 | Comprehensive adjusting mechanism for underwater glider |
| CN111762304A (en) * | 2019-04-01 | 2020-10-13 | 北海燕航慧程智能科技有限公司 | Environmental monitoring underwater glider for offshore culture area |
| CN111831003A (en) * | 2020-07-27 | 2020-10-27 | 江苏科技大学 | Diesel-electric hybrid unmanned aircraft and attitude adjustment method thereof |
| CN112223964A (en) * | 2020-10-19 | 2021-01-15 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
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| CN106335616A (en) * | 2016-09-08 | 2017-01-18 | 哈尔滨工程大学 | Thrust distribution method for overdriven remote control working underwater robot |
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| CN109162718A (en) * | 2018-10-26 | 2019-01-08 | 浙江海洋大学 | A kind of deep sea deposits acquisition system |
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| CN111516839B (en) * | 2020-05-26 | 2021-01-29 | 中国船舶科学研究中心 | Comprehensive adjusting mechanism for underwater glider |
| CN111831003A (en) * | 2020-07-27 | 2020-10-27 | 江苏科技大学 | Diesel-electric hybrid unmanned aircraft and attitude adjustment method thereof |
| WO2022051810A1 (en) * | 2020-09-09 | 2022-03-17 | Y&R Allum Pty Ltd | Balanced piston pump for subsea use |
| CN112223964A (en) * | 2020-10-19 | 2021-01-15 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
| CN112223964B (en) * | 2020-10-19 | 2024-03-29 | 安徽理工大学 | Amphibious robot for waste mine pumped storage power station |
| CN115009484A (en) * | 2022-06-28 | 2022-09-06 | 江苏科技大学 | Device for improving maneuverability of wing body integrated underwater glider and working method thereof |
| CN115009484B (en) * | 2022-06-28 | 2024-03-15 | 江苏科技大学 | Device for improving maneuverability of wing body fusion underwater glider and working method thereof |
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