CN113212710A - Rotary AUV rear stabilizing ring stability augmentation device - Google Patents
Rotary AUV rear stabilizing ring stability augmentation device Download PDFInfo
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- CN113212710A CN113212710A CN202110662896.XA CN202110662896A CN113212710A CN 113212710 A CN113212710 A CN 113212710A CN 202110662896 A CN202110662896 A CN 202110662896A CN 113212710 A CN113212710 A CN 113212710A
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- auv
- stability
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- ring piece
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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
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- 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
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a rotator type AUV (autonomous Underwater vehicle) rear stabilizing ring stability augmentation device, belonging to the fields of hydrodynamics, maneuverability and stability of an underwater vehicle; comprises a stability augmentation ring sheet and a fixed rod; the stability augmentation ring piece is of a circular ring structure, the radial section of the stability augmentation ring piece is of an airfoil section, and the front edge of the stability augmentation ring piece faces the AUV main body; the fixing rod is of a strip-shaped sheet structure; four fixed rods are uniformly distributed along the circumferential direction, one end of each fixed rod is fixed at the outer edges of the four fin plates of the AUV cross-shaped fin rudder, and the other end of each fixed rod is fixed at the inner circumferential surface of the stability augmentation ring piece. The stability augmentation ring piece 2 improves the control force and the control moment of the aircraft in a micro-speed state by increasing the wetting area of the aircraft on one hand, and can rectify the water flow passing through the cross rudder on the other hand, reduce the influence of the incoming flow on the wake flow of the aircraft, play a beam role on the wake flow of the underwater aircraft and effectively reduce the influence of the wake flow on the stability of the aircraft. The AUV can better adapt to the requirements of different working conditions on high maneuverability and high stability.
Description
Technical Field
The invention belongs to the fields of hydrodynamics, maneuverability of an underwater vehicle and stability, and particularly relates to a rotator type AUV (autonomous Underwater vehicle) rear stabilizing ring stability augmentation device.
Background
The gyroscopic underwater vehicle has stabilizing and control surfaces, which determine its motion characteristics, and is usually arranged at the rear. In the case of a heeling movement of the navigation body, the tail wing can generate both a control moment and a restoring moment, and also a disturbing moment. Due to the occurrence of the requirements of environment detection, information collection and accurate control tasks, the AUV has higher requirements on the underwater navigation stability. For example: when the underwater vehicle carries out underwater recovery work, the AUV is required to have micro-speed navigation stability, so that the AUV keeps a good posture in the low-speed docking process to complete the docking task. The stability of the existing aircraft is difficult to ensure that the aircraft works and moves at a micro speed or even a zero speed.
In the prior art, application number CN2019106949094 is a method for reducing the rolling and pitching of an AUV by using a self-provided horizontal rudder, which is used for carrying out detailed analysis on the stress and motion conditions of the horizontal rudder when the AUV is subjected to wave interference to generate rolling and pitching motion, determining the motion mode of the horizontal rudder in the rolling and pitching periods according to the stress analysis of the horizontal rudder under the interference, and controlling the rolling and pitching of the AUV based on a lift model of the horizontal rudder and the stabilizing moment under the rolling and pitching motion. The technical scheme improves the anti-interference capability of the AUV from the angle of a control model. However, this solution cannot cope with the problem of stability of the low-speed vessel in a complicated marine situation. Firstly, when the aircraft is in a low-speed state, the fluid stress condition of the aircraft will obviously change, and the control force and the control torque cannot meet the requirement of stable control. Secondly, the marine environment under natural conditions is more complex, and the stress situation has obvious time-varying control scheme which can not cope with the complex marine environment. Finally, the technical scheme is influenced by a mechanical structure, so that the stability augmentation capability of the aircraft is limited, and the requirement of high stability under extreme conditions cannot be met.
In the technical scheme, the problems of direct navigation resistance and dynamic instability are solved through the deformed main wing plate and the deformed auxiliary wing plate, and the submarine glides in a large range and is fused with a high-speed direct navigation dual mode. However, this technical solution cannot be applied to the conventional revolved body AUV because the inner space and the outer shape of the main and flap need to be additionally installed are largely changed. Secondly, the gliding and high-speed direct sailing dual-mode sailing can not be matched with the prior revolving body AUV which mostly depends on power systems such as propellers and the like, and the applicability of the gliding and high-speed direct sailing dual-mode sailing is greatly limited. Meanwhile, the technical scheme provides a relevant solution for high-speed direct navigation instability, and the problem of AUV low-speed navigation instability under the low-speed or micro-speed condition of less than 3kn cannot be effectively solved.
Therefore, a novel AUV stability augmentation device which is compact in structure and does not affect the overall appearance layout of the aircraft is needed, so that the stability of the gyro type AUV is improved, and the AUV can better adapt to the requirements of various working conditions such as low navigational speed and the like on maneuverability and stability.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a rotator type AUV rear stabilizing ring stability augmentation device, which is characterized in that an annular stabilizing mechanism is additionally arranged at the tail part of the rotator AUV to provide stable restoring torque for the AUV under the low-speed or micro-speed condition of less than 3kn so as to augment the stability. The rotary body type AUV can stably sail under the low sailing speed condition acted by the dynamic positioning system.
The technical scheme of the invention is as follows: the utility model provides a rotor type AUV postposition stabilizing ring increases steady device which characterized in that: comprises a stability augmentation ring sheet and a fixed rod; the stability augmentation ring piece is of a circular ring structure, the radial section of the stability augmentation ring piece is of an airfoil section, and the front edge of the stability augmentation ring piece faces the AUV main body; the fixing rod is of a strip-shaped sheet structure; four fixed rods are uniformly distributed along the circumferential direction, one end of each fixed rod is fixed at the outer edges of the four fin plates of the AUV cross-shaped fin rudder, and the other end of each fixed rod is fixed at the inner circumferential surface of the stability augmentation ring piece.
The further technical scheme of the invention is as follows: and the stability augmentation ring piece is positioned at the tail end of the AUV cross-shaped fin rudder and is arranged opposite to the propeller.
The further technical scheme of the invention is as follows: the axial length of the stability augmentation ring piece is larger than that of the propeller.
The further technical scheme of the invention is as follows: the front edge of the stability augmentation ring piece is located at the tail of the AUV cross-shaped fin rudder, and a gap with the distance of 10mm is reserved between the front edge of the stability augmentation ring piece and the end face of the tail of the cross-shaped fin rudder, so that normal action of the fin rudder can be guaranteed.
The further technical scheme of the invention is as follows: the inner diameter of the stability augmentation ring piece is equal to the outer diameter of the AUV body.
The further technical scheme of the invention is as follows: the chord length of the radial section of the stability augmentation ring sheet accounts for 10% of the axial length of the AUV cross fin rudder.
The further technical scheme of the invention is as follows: the fixed rod is of a conical plate structure, and the tip end of the fixed rod is fixed at the front edge of a fin plate of the AUV cross-shaped fin rudder; the width of the fixing rod is smaller than that of the outer edge of the fin plate.
The further technical scheme of the invention is as follows: the fixing rod is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the stability augmentation ring piece through rivets.
The further technical scheme of the invention is as follows: the fixed rod is an aluminum alloy machined part with the thickness of 5 mm.
Advantageous effects
The invention has the beneficial effects that: the invention discloses a rotary AUV rear stabilizing ring stability augmentation device which is formed by mounting stability augmentation ring pieces on an AUV cross rudder through a fixing rod. The stability augmentation ring piece 2 improves the control force and the control moment of the aircraft in a micro-speed state by increasing the wetting area of the aircraft on one hand, and can rectify the water flow passing through the cross rudder on the other hand, reduce the influence of the incoming flow on the wake flow of the aircraft, play a beam role on the wake flow of the underwater aircraft and effectively reduce the influence of the wake flow on the stability of the aircraft. The AUV can better adapt to the requirements of different working conditions on high maneuverability and high stability.
1. The stability augmentation ring piece is arranged at the tail end of the AUV cross-shaped fin rudder and is opposite to the propeller, the inner diameter of the stability augmentation ring piece is equal to the outer diameter of the AUV body and is slightly larger than the extended length of the fin plate, and the axial length of the stability augmentation ring piece is larger than that of the propeller, so that on one hand, water flow flowing out of an outlet of the propeller can be rectified, and the influence of water flow at the outlet of the propeller on the stability of the AUV is reduced; on the other hand, the larger contact area of the aircraft is ensured, and the hydrodynamic force is increased due to the increase of the contact area, so that the viscous hydrodynamic force of the aircraft in a low-speed state is improved, and the AUV can have stronger anti-interference capability during low-speed navigation.
2. The front edge of the stability augmentation ring piece is positioned at the tail part of the AUV cross-shaped fin rudder, and a 10mm gap is formed between the front edge of the stability augmentation ring piece and the tail end surface of the cross-shaped fin rudder, so that the fin rudder can normally act.
3. The chord length of the radial section of the stability augmentation ring piece accounts for 10% of the axial length of the AUV cross fin rudder. The wetting area of the aircraft is effectively increased on the premise of not changing the fluid shape of the aircraft, so that the fluid viscosity force of the aircraft in a low-speed state is increased, and the stability of the aircraft in the low-speed state is improved.
4. The fixing rod is of a conical plate structure, the tip end of the fixing rod is fixed at the front edge of the fin plate of the AUV cross-shaped fin rudder, the contact area with the cross-shaped fin rudder can be reduced, the width of the fixing rod is ensured to be smaller than the thickness of the fin plate, the normal operation and the stable function of the fin plate cannot be influenced, and the direction of water flow flowing through the control surface cannot be influenced; the fixed rod is fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the stabilizing ring increasing sheet through the rivet, and the stable connection between the rear stabilizing ring mechanism and the rotary body type AUV and the effective work of the rear stabilizing ring mechanism 2 are ensured while the front cross-shaped fin is ensured to work normally and the AUV control rudder works flexibly and normally.
Drawings
FIG. 1 is a schematic perspective view of an AUV and a rear stabilizer ring augmentation device;
FIG. 2 is a schematic structural view of a rear stabilizer ring augmentation device;
FIG. 3 is a schematic view of a fixed cruciform rudder construction;
FIG. 4 is a detailed view of the structure of the fixed cross-shaped rudder;
FIG. 5 is a schematic illustration of a rear stabilizer ring arrangement;
FIG. 6 is a schematic cross-sectional view of a rear stabilizer ring device;
FIG. 7 is a state diagram of the aft stabilizer ring attachment;
description of reference numerals: 1-gyrorotor AUV; 2, arranging a stabilizing ring mechanism at the rear; 3-increasing the stability of the ring sheet; 4-fixing the rod.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The structural principle and the implementation mode of the invention are as follows:
referring to fig. 1 and 2, the invention relates to a rear stabilizer augmentation device based on a revolving body AUV, the revolving type AUV comprises a cross fin rudder and a rear stabilizer mechanism 2, and the rear stabilizer mechanism 2 comprises a stabilizer augmentation ring piece 3 and a fixing rod 4. The stability augmentation ring piece 3 is of a circular ring structure, the radial section of the stability augmentation ring piece is of an airfoil section, and the front edge of the stability augmentation ring piece faces the AUV main body; the fixed rod 4 is in a conical sheet structure; the four fixing rods 4 are symmetrically arranged, one ends of the four fixing rods are respectively fixed at the outer edges of the four fin plates of the AUV cross-shaped fin rudder, and the other ends of the four fixing rods are respectively fixed at the symmetrical positions of the inner circumferential surface of the stability augmentation ring piece 3.
Fig. 3 is the shape of an AUV (autonomous underwater vehicle), fig. 4 is a detailed view of a cross-shaped fin rudder at the tail part, rear stabilizing ring connecting positions are designed on a horizontal fin plate and a vertical fin plate, the horizontal fin plate and the vertical fin plate are connected with a stabilizing ring increasing plate 3 through a fixing rod 4, and a vacant position is reserved at the rear part of the AUV fin rudder for installing an AUV rear stabilizing ring stabilizing device.
Referring to fig. 7, the fixing rod 4 is a tapered plate structure, and the tip end thereof is fixed at the front edge of the fin plate of the AUV cross fin rudder; the fixing rod 4 is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the stability augmentation ring piece through rivets. The connection mode ensures the stable connection between the rear stabilizer ring mechanism and the rotary body type AUV and the effective work of the rear stabilizer ring mechanism 2 while ensuring the normal work of the front cross fin and the flexible work of the AUV control rudder.
Referring to fig. 5, the stabilizing ring 3 is located at the tail end of the AUV cruciform fin rudder, has the same diameter as the AUV, and has a width slightly longer than the extended length of the propeller shaft at the tail of the AUV and about 105% of the axial length of the propeller shaft.
Referring to fig. 6, which is a schematic cross-sectional view of a stability enhancing ring plate, it can be seen from fig. 6 that the stability enhancing ring plate is not generally square in cross-section, but rather is wing-shaped (e.g., NACA2410), and the shape of the stability enhancing ring plate is hydrodynamic, which can effectively reduce the effect of fluid resistance on overall performance.
The invention relates to a rear stabilizing ring stability-increasing device of a rotary AUV (autonomous Underwater vehicle) operating system, which can stably operate and move a rotary AUV under the condition that a dynamic positioning system acts at a certain navigational speed. The rear stabilizing ring can integrate the wake flow of the aircraft and restrain the water flow around the AUV, so that the navigation stability of the AUV is improved. The installation and the disassembly are simple, the structure is stable and reliable, and the use is convenient. This patent can allow the solid of revolution AUV to get into operating condition rapidly and carry out the steady operation to the solid of revolution AUV when needs improve the operating stability, when improving AUV's stability, makes the better various different operating modes of adaptation of AUV to the requirement of the maneuverability and the stability of various degrees.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. The utility model provides a rotor type AUV postposition stabilizing ring increases steady device which characterized in that: comprises a stability augmentation ring sheet and a fixed rod; the stability augmentation ring piece is of a circular ring structure, the radial section of the stability augmentation ring piece is of an airfoil section, and the front edge of the stability augmentation ring piece faces the AUV main body; the fixing rod is of a strip-shaped sheet structure; four fixed rods are uniformly distributed along the circumferential direction, one end of each fixed rod is fixed at the outer edges of the four fin plates of the AUV cross-shaped fin rudder, and the other end of each fixed rod is fixed at the inner circumferential surface of the stability augmentation ring piece.
2. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: and the stability augmentation ring piece is positioned at the tail end of the AUV cross-shaped fin rudder and is arranged opposite to the propeller.
3. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the axial length of the stability augmentation ring piece is larger than that of the propeller.
4. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the front edge of the stability augmentation ring piece is located at the tail of the AUV cross-shaped fin rudder, and a gap with the distance of 10mm is reserved between the front edge of the stability augmentation ring piece and the end face of the tail of the cross-shaped fin rudder, so that normal action of the fin rudder can be guaranteed.
5. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the inner diameter of the stability augmentation ring piece is equal to the outer diameter of the AUV body.
6. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the chord length of the radial section of the stability augmentation ring sheet accounts for 10% of the axial length of the AUV cross fin rudder.
7. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the fixed rod is of a conical plate structure, and the tip end of the fixed rod is fixed at the front edge of a fin plate of the AUV cross-shaped fin rudder; the width of the fixing rod is smaller than that of the outer edge of the fin plate.
8. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the fixing rod is provided with a plurality of fixing holes along the length direction and is respectively fixed with the side edge of the fin plate of the cross-shaped fin rudder and the inner surface of the stability augmentation ring piece through rivets.
9. The swivel-type AUV aft stabilizer augmentation device of claim 1, wherein: the fixed rod is an aluminum alloy machined part with the thickness of 5 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110662896.XA CN113212710A (en) | 2021-06-15 | 2021-06-15 | Rotary AUV rear stabilizing ring stability augmentation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110662896.XA CN113212710A (en) | 2021-06-15 | 2021-06-15 | Rotary AUV rear stabilizing ring stability augmentation device |
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| CN113212710A true CN113212710A (en) | 2021-08-06 |
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| CN202110662896.XA Pending CN113212710A (en) | 2021-06-15 | 2021-06-15 | Rotary AUV rear stabilizing ring stability augmentation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
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| JPS57107993A (en) * | 1980-12-23 | 1982-07-05 | Mitsubishi Heavy Ind Ltd | Hydrofoil |
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| US8539898B1 (en) * | 2010-03-24 | 2013-09-24 | Lockheed Martin Corporation | Underwater vehicle with improved controls and modular payload |
| US20140230714A1 (en) * | 2013-02-20 | 2014-08-21 | Lockheed Martin Corporation | External payload module for an autonomous underwater vehicle |
| KR20140113168A (en) * | 2013-03-15 | 2014-09-24 | 삼성중공업 주식회사 | Ship having duct around propeller |
| CN206202649U (en) * | 2016-11-25 | 2017-05-31 | 青岛罗博飞海洋技术有限公司 | A kind of underwater robot propeller |
| CN109250054A (en) * | 2018-11-23 | 2019-01-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | One kind can be changed wing difunctional deep-sea unmanned submariner device and its working method |
| CN110450929A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A method of reducing AUV roll and pitch using included hydroplane |
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2021
- 2021-06-15 CN CN202110662896.XA patent/CN113212710A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57107993A (en) * | 1980-12-23 | 1982-07-05 | Mitsubishi Heavy Ind Ltd | Hydrofoil |
| US8539898B1 (en) * | 2010-03-24 | 2013-09-24 | Lockheed Martin Corporation | Underwater vehicle with improved controls and modular payload |
| CN102682156A (en) * | 2012-04-06 | 2012-09-19 | 西北工业大学 | Load separation resistant UUV (unmanned underwater vehicle) hydrodynamic layout design method |
| US20140230714A1 (en) * | 2013-02-20 | 2014-08-21 | Lockheed Martin Corporation | External payload module for an autonomous underwater vehicle |
| KR20140113168A (en) * | 2013-03-15 | 2014-09-24 | 삼성중공업 주식회사 | Ship having duct around propeller |
| CN206202649U (en) * | 2016-11-25 | 2017-05-31 | 青岛罗博飞海洋技术有限公司 | A kind of underwater robot propeller |
| CN109250054A (en) * | 2018-11-23 | 2019-01-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | One kind can be changed wing difunctional deep-sea unmanned submariner device and its working method |
| CN110450929A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A method of reducing AUV roll and pitch using included hydroplane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| CN113602459B (en) * | 2021-08-17 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
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