CN115649400A - Underwater glider with flap structure - Google Patents
Underwater glider with flap structure Download PDFInfo
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- CN115649400A CN115649400A CN202211429457.5A CN202211429457A CN115649400A CN 115649400 A CN115649400 A CN 115649400A CN 202211429457 A CN202211429457 A CN 202211429457A CN 115649400 A CN115649400 A CN 115649400A
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Abstract
The invention relates to an underwater glider with a flap structure, which comprises a first hydrofoil gliding main body and a second hydrofoil gliding main body, wherein the first hydrofoil gliding main body and the second hydrofoil gliding main body are symmetrically arranged at two sides of a glider main body; a first angle sensor; a second angle sensor; a first flap movably connected with the first hydrofoil gliding main body; a second flap; a third angle sensor; a fourth angular sensor; the first steering engine drives the first flap to swing; the second steering engine drives the second flap to swing; the control device is used for respectively receiving angle signals transmitted by the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor and sending out control signals according to the sailing route of the underwater glider; first steering wheel, second steering wheel receive the control signal that controlling means transmitted respectively, and then drive first flap, the second flap of symmetry and swing according to certain angle of attack scope simultaneously for the cockscomb structure section motion is made in aqueous to glider under water with certain angle of glide and glide speed.
Description
Technical Field
The invention belongs to the field of full-automatic products, and relates to an underwater glider with a flap structure.
Background
The underwater glider is used as a novel marine robot, wave energy is converted into self-advancing power by using flaps on two sides, meanwhile, a solar cell panel carried on the upper surface supplies power to various marine observation instruments, and the underwater glider has the advantages of long endurance, large range, low cost and the like, has important effects in the fields of marine environment monitoring and protection, fishery fishing, energy exploitation and the like, shows good application prospects in the military and civil fields, and becomes one of the research focuses of various scientific research institutions in the last decade. The forward thrust of the underwater glider comes from wave motion and a gravity and buoyancy adjusting system, the thrust of the underwater glider is randomly changed due to the change of marine environment, and the sailing speed is difficult to control manually.
The swing attack angle of the flap has direct influence on the thrust conversion and the propulsion efficiency of the wave glider. And flaps arranged on the existing wave glider underwater tractor are all single control surfaces. When the underwater glider wing panel is selected, a relatively optimal wing panel model can be achieved by adjusting the structural parameters of the wing section. However, this type of flap is generally only adequate for achieving optimum performance under a given number of operating conditions. Under the long-time running condition of the underwater glider, the wave condition state is random and greatly changed, and the prior design is difficult to achieve the best performance. Therefore, a technical solution is needed to improve the above technical problems.
The current steering of the traditional underwater glider in the sea is mainly realized by the tail vane arranged at the tail part of the underwater glider, and when the underwater glider is in the sea, the flowing water generates transverse acting force on the rudder blade, thereby changing the navigation direction of the underwater glider and further changing the course of the water floating body. However, the magnitude of this lateral force is dependent on the velocity of the underwater gliding mass, with the faster the velocity, the greater the force. For an underwater glider completely driven by wave energy, the advancing speed is usually low, so that a large steering torque is difficult to generate, the steering efficiency of the underwater glider is difficult to guarantee, and the realization of the path tracking function is hindered.
Disclosure of Invention
In order to solve the problems that the prior traditional underwater glider has slow advancing speed, the advancing speed of the underwater glider completely depends on sea conditions, and the auxiliary propeller has large propelling noise and high energy consumption, the invention provides the technical scheme that: an underwater glider with a flap structure comprises a first hydrofoil gliding main body and a second hydrofoil gliding main body which are symmetrically arranged at two sides of the glider main body;
a first angle sensor for acquiring an angle between the first hydrofoil sliding body and a horizontal plane;
a second angle sensor for acquiring an angle between the second hydrofoil sliding main body and a horizontal plane;
a first flap movably connected to the first hydrofoil gliding body;
a second flap movably connected to the second hydrofoil gliding body;
a third angle sensor for acquiring an angle between the first flap and a horizontal plane;
a fourth angle sensor for acquiring an angle between the second flap and a horizontal plane;
the first steering engine is used for driving the first flap to swing;
the second steering engine drives the second flap to swing;
the control device is used for respectively receiving angle signals transmitted by the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor and sending out control signals according to the navigation route of the underwater glider;
the first steering engine and the second steering engine respectively receive the control signals transmitted by the control device, and then the symmetrical first flaps and the symmetrical second flaps are driven to swing simultaneously according to a certain attack angle range, so that the underwater glider can do sawtooth-shaped section motion in water at a certain glide angle and a certain glide speed.
Further, the method comprises the following steps: the first flap is embedded in a vacant part of the rear edge of the tail part of the first hydrofoil gliding main body, and when the first flap is parallel to the first hydrofoil gliding main body, the first flap and the first hydrofoil gliding main body form a whole.
Further: the first flap and the first flap are identical in structure, and the first flap is in a flap rudder surface shape.
Further: the certain range of the attack angle is as follows: -45 °.
Further: the first flap has a length that is half the length of the first gliding body.
Further: the first hydrofoil sliding main body is connected with the first flap through a first flap shaft, and the central axis of the first hydrofoil sliding main body is parallel to the first flap shaft.
The invention provides an underwater glider with a flap structure, which is improved, and is provided with a trailing edge flap auxiliary adjusting mechanism at two sides of a hydrofoil gliding main body, wherein the trailing edge flap auxiliary adjusting mechanism is used for adjusting the equivalent attack angle of a main hydrofoil in an auxiliary manner;
the underwater glider needs to move among different water depths, and can do sawtooth-shaped section motion in water at a certain glide angle and glide speed through the flap structure, and the motion mode of the underwater glider is just in accordance with the working requirement;
meanwhile, the rotation direction of the bilateral symmetry device is controlled, and the steering function of the glider in a small water area and at low navigational speed is realized;
simple structure, zero noise, the energy consumption is low, has effectively improved the adaptability of glider to different sea conditions, has effectively improved the steering speed and the propulsive ability of glider.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a hydrofoil gliding mass;
FIG. 2 is a first schematic view of a flap;
FIG. 3 is a second schematic view of a flap.
Detailed Description
It should be noted that, in the case of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other, and the present invention will be described in detail with reference to the accompanying drawings and embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus that are known by one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings for the convenience of description and simplicity of description, and that these directional terms, unless otherwise specified, do not indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
FIG. 1 is a schematic view of a hydrofoil gliding mass;
an underwater glider with a flap structure comprises hydrofoil gliding main bodies, namely a first hydrofoil gliding main body, a second hydrofoil gliding main body, a first flap, a second flap, a first angle sensor, a second angle sensor, a third angle sensor, a fourth angle sensor, a first steering engine, a second steering engine and a control device, wherein the hydrofoil gliding main bodies are symmetrically arranged on two sides of the glider main body;
the first hydrofoil sliding main body and the second hydrofoil sliding main body are NACA00 type symmetrical hydrofoils;
the first angle sensor is used for acquiring an angle between the first hydrofoil sliding main body and a horizontal plane; the first angle sensor is arranged inside the first hydrofoil sliding main body;
the second angle sensor is used for acquiring an angle between the second hydrofoil sliding main body and a horizontal plane; the second angle sensor is arranged inside the second hydrofoil sliding main body;
the first flap is movably connected with the first hydrofoil gliding main body;
the second flap is movably connected with the second hydrofoil sliding main body;
the first flap and the second flap are symmetrically arranged on two sides of the glider main body;
the first hydrofoil sliding main body is connected with the first flap through a first flap shaft, and the central axis of the first hydrofoil sliding main body is parallel to the first flap shaft;
the second hydrofoil sliding main body is connected with the second flap through a second flap shaft, and the central axis of the second hydrofoil sliding main body is parallel to the second flap shaft;
the actual motion condition of glider is considered, the flap structure is applied to the hydrofoil gliding main body of the glider, the flap is controlled simply, and the angle can be adjusted by means of the left steering engine and the right steering engine. We assume that the angle change of the left and right flaps of the glider of the project can also assist the gliding movement of the glider during the floating and diving processes. Meanwhile, the flap structure has flexible maneuvering performance, and the reverse adjustment of the two flaps can realize the rotary motion with smaller rotary radius under the condition of zero navigational speed due to the action of hydrodynamic force, so that the course and the position can be conveniently changed in practical application, and underwater operation and monitoring are facilitated.
The length of the first flap is half of the length of the first hydrofoil gliding body;
the third angle sensor is used for acquiring an angle between the first flap and a horizontal plane;
the fourth angle sensor is used for acquiring an angle between the second flap and a horizontal plane;
the first steering engine drives the first flap to swing;
the second steering engine drives the second flap to swing;
the first steering engine and the second steering engine are symmetrically arranged inside the glider main body;
the control device receives angle signals respectively transmitted by the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor;
the control device sends out a control signal according to the navigation route of the underwater glider;
the first steering engine and the second steering engine respectively receive the control signals transmitted by the control device, and the first flap and the second flap which are symmetrical are driven by the first steering engine and the second steering engine to swing according to a certain attack angle range.
FIG. 2 is a first schematic view of a flap;
figure 3 is a schematic view two of the flap.
The first flap is embedded in a vacant part of the rear edge of the tail part of the first hydrofoil gliding main body, and when the first flap is parallel to the second hydrofoil gliding main body, the first flap and the second hydrofoil gliding main body form a whole; the same is true of the second flap; the second flap is identical in structure;
the first flap is in a flap rudder surface shape;
the certain range of the attack angle is as follows: -45 °;
in the starting stage of the underwater glider, the trailing edge flap has the same angle with the main body of the hydrofoil or is within a small angle, the upper surface and the lower surface of the trailing edge flap only have a small included angle with the upper surface and the lower surface of the main body of the hydrofoil, and the two forms a complete hydrofoil shape together,
and in the steering stage of the underwater glider, the directions of the wing flap structures of the trailing edges of the hydrofoils at the two sides are opposite. The included angle between the hydrofoil trailing edge flap structure and the hydrofoil main body is equal in size.
Under the condition of low navigational speed, the trailing edge flap is driven by the stepping motor to rotate at the maximum angle of 60 degrees, so that the hydrofoil of the underwater glider traction mechanism can capture enough energy, and the hydrofoil generates thrust to drive the glider to move forwards; in the advancing stage of the underwater glider, the trailing edge flap mechanism of the hydrofoil is the same with the angle of the main body of the hydrofoil or within a smaller angle, and the stepping motor does not execute the action before the control device does not send out a control command; when the speed of the underwater glider needs to be increased, the control device estimates the equivalent angle required to be increased of the trailing edge flap according to the sea condition and the overturning angle of the main hydrofoil of the traction mechanism at the moment, and controls the first steering engine and the second steering engine to rotate, so that a control command is realized, and the effect of controlling the acceleration is achieved; when the underwater glider advances at a high sailing speed, if the speed of the glider needs to be reduced, the control device calculates the equivalent angle required to be reduced of the first flap and the second flap according to the sea condition and the overturning angle of the main hydrofoil of the traction mechanism at the moment, controls the rotation of the steering engine, realizes a control command and achieves a control deceleration effect.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An underwater glider that contains flap structure which characterized in that: the first hydrofoil gliding main body and the second hydrofoil gliding main body are symmetrically arranged on two sides of the glider main body;
a first angle sensor for acquiring an angle between the first hydrofoil sliding body and a horizontal plane;
a second angle sensor for acquiring an angle between the second hydrofoil sliding main body and a horizontal plane;
a first flap movably connected to the first hydrofoil gliding body;
a second flap movably connected to the second hydrofoil gliding body;
a third angle sensor for acquiring an angle between the first flap and a horizontal plane;
a fourth angle sensor for acquiring an angle between the second flap and a horizontal plane;
the first steering engine drives the first flap to swing;
the second steering engine drives the second flap to swing;
the control device is used for respectively receiving angle signals transmitted by the first angle sensor, the second angle sensor, the third angle sensor and the fourth angle sensor and sending out control signals according to the sailing route of the underwater glider;
the first steering engine and the second steering engine respectively receive the control signals transmitted by the control device, and then the symmetrical first flaps and the symmetrical second flaps are driven to swing simultaneously according to a certain attack angle range, so that the underwater glider can do sawtooth-shaped section motion in water at a certain glide angle and a certain glide speed.
2. An underwater glider having a flap arrangement according to claim 1, wherein:
the first flap is embedded in a vacant part of the rear edge of the tail part of the first hydrofoil gliding main body, and when the first flap is parallel to the first hydrofoil gliding main body, the first flap and the first hydrofoil gliding main body form a whole.
3. An underwater glider having a flap arrangement according to claim 1, wherein: the first flap and the first flap are identical in structure, and the first flap is in a flap rudder surface shape.
4. An underwater glider having a flap structure according to claim 1, wherein: the certain range of angles of attack is: -45 °.
5. An underwater glider having a flap structure according to claim 1, wherein: the first flap has a length that is half the length of the first gliding body.
6. An underwater glider having a flap arrangement according to claim 1, wherein: the first hydrofoil sliding main body is connected with the first flap through a first flap shaft, and the central axis of the first hydrofoil sliding main body is parallel to the first flap shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211429457.5A CN115649400A (en) | 2022-11-15 | 2022-11-15 | Underwater glider with flap structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211429457.5A CN115649400A (en) | 2022-11-15 | 2022-11-15 | Underwater glider with flap structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115649400A true CN115649400A (en) | 2023-01-31 |
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ID=85022052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211429457.5A Pending CN115649400A (en) | 2022-11-15 | 2022-11-15 | Underwater glider with flap structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115649400A (en) |
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2022
- 2022-11-15 CN CN202211429457.5A patent/CN115649400A/en active Pending
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