EP3468864A1 - Method for compensating the blockage of a rudder blade in an x-shaped rudder - Google Patents
Method for compensating the blockage of a rudder blade in an x-shaped rudderInfo
- Publication number
- EP3468864A1 EP3468864A1 EP17730735.2A EP17730735A EP3468864A1 EP 3468864 A1 EP3468864 A1 EP 3468864A1 EP 17730735 A EP17730735 A EP 17730735A EP 3468864 A1 EP3468864 A1 EP 3468864A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rudder
- scaled
- blade
- blocked
- rescaled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 4
- 230000008859 change Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241001544487 Macromiidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B63G8/20—Steering equipment
-
- 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
- B63G8/18—Control of attitude or depth by hydrofoils
Definitions
- the invention relates to a method for compensating the blockage of a rudder blade in an X-rudder (hereinafter X-rudder) and thus maintaining the maneuverability of the submarine with such an X-rudder.
- X-rudder X-rudder
- Modern submarines such as the German class 212a or the Israeli Dolphin class, instead of the conventional cruiser have a so-called X-rudder, in which the four rudder blades are each arranged diagonal to the horizontal or vertical at normal position of the submarine.
- rudder blades are numbered from the rear as follows.
- Rudder blade 1 is upper right (starboard, above)
- rudder blade 2 is upper left (port, top)
- rudder blade 3 lower right ((starboard, bottom)
- rudder blade 4 is lower left (port, lower) arranged.)
- rudder blade 1 and Rudder blade 4 and rudder blade 2 and rudder blade 3 each opposite.
- the virtual rudder or virtual rudder corresponds to the rudder or the aileron in a conventional arrangement of the rudder in a cross shape.
- the rudder blades cooperate in such a way that the submarine is rotated about its longitudinal axis without any further change in the direction of movement of the submarine, as it were, in a helical motion.
- virtual Bremsruder the rudder blades are set so that the direction of movement of the submarine is not changed, but the rudder blades represent a flow resistance and thus have a braking effect.
- the center position of the rudder is considered. If all the rudders are in the middle position, no direction-changing force acts on the rudder. Due to the comparatively complex structure of the X-rudder, a blocked rudder blade automatically affects both the virtual rudder and the virtual rudder.
- JP 2016-88 348 A discloses a controller for a rudder system for an X-rudder.
- the object of the invention is to provide a method which allows the maneuverability of the submarine even with a blocked rudder blade.
- the inventive method for compensating the blockage of a rudder blade in an X-rudder comprises the following steps:
- the submarine remains maneuverable even after damage.
- the process avoids uncontrolled changes in position and direction. If it comes during a combat mission or during an reconnaissance trip to a blocked rudder blade, in particular a surfacing of the submarine can be avoided, which would reveal the position and presence of the submarine.
- step d) For blocked 1st rudder blade:
- the Bremsruder is released as a variable, so it is the braking action taken by the rudder in order to maintain the controllability of the boat. This means the least change in the control behavior of the submarine.
- step d the following steps can be carried out:
- the maximum allowable control angle is not only dependent on the type.
- a rudder blade may be movable in the range of -45 ° to 45 °.
- the maximum permissible steering angle also depends on the speed of the submarine. While at standstill (0 kn) a deflection in the aforementioned case of -45 ° to 45 ° is possible, due to the water pressure acting through the flow on the rudder blade, at high speed, for example, 20 kn, the deflection, for example, to - 30 ° to 30 ° limited, since the torque of the steering machine and thus the maximum available power is limited.
- the scaling changes the control behavior quantitatively, the properties remain qualitative. Particularly preferred is the ratio of rudder to rudder constant.
- the submarine can drive a defined curve, for example to starboard, without a significant change in the depth of the submarine, merely increasing the radius of the curve during extreme maneuvers.
- the control behavior remains predictable for the crew under these conditions. A reduction in the accuracy of maintaining the depth must be given if accepted.
- the scaling is performed such that the control angle of the rudder blade, which has the highest deflection, is set to the maximum value and the remaining deflections of the remaining two rudder blades are scaled accordingly.
- the index sc at the control angle ⁇ n sc with n selected from the group 1, 2, 3 or 4 means that the control angle of the rudder n is scaled to the maximum value.
- step g) If h) negative, then continue scaled rudder scaled rudder scaling in step g) and continue with step m), j) if h) positive, then rescale in consideration of the rudder, k) find the rescaled rudder , the rescaled depth rudder, and the rescaled rudder,
- ⁇ r ord denotes the rescaled rudder and ⁇ p ord rescaled
- Rollers which are not fully scaled values.
- the values are determined such that ⁇ s, com can be achieved, ⁇ r, com, however, can no longer be adhered to, since ⁇ p is released as a further degree of freedom.
- the variation is chosen so that ⁇ r ord is minimal.
- the priority is placed on the course, the depth is varied.
- the following steps are carried out: h ') Check that the amount of the predetermined rudder is greater than or equal to 1 ° and the magnitude of the scaled rudder is less than 1 °. i ') If h') negative, then perform a scaled rudder scaled rudder adjustment,
- the calculation is analogous to the previous method, as the priority was placed on the depth and thus on the depth rudder.
- Fig. 1 a flow chart for the control of rudder blades of an X-rudder is shown.
- step A the value for the rudder ⁇ r , com and the value for the depth rudder ⁇ s, com are given.
- step B the values are converted into the control angles ⁇ i of the four rudder blades according to formula 2.
- step C it is checked whether a rudder blade is blocked. If no rudder blade is blocked, continue with step N. If a rudder blade is blocked, continue with step D.
- step N it is checked whether one of the control angles ⁇ i of the four rudder blades is greater than the maximum control angle. If this is the case, then continue with step 0, this is not the case, then proceeds to step K.
- step 0, the control angles ⁇ i of the four rudder blades are scaled such that the highest value of the control angles ⁇ i of the four rudder blades assumes the value of the maximum control angle. Subsequently, continue with step K.
- step D it is checked which rudder blade is blocked and at which angle ⁇ i the blocked rudder blade is blocked.
- step E the control angles for the remaining three rudder blades are calculated to compensate for the blocked rudder blade.
- the calculation is carried out according to formulas 5 to 8.
- step F it is checked whether one of the control angles ⁇ i of the four rudder blades is greater than the maximum control angle. If this is the case, then continue with step G, this is not the case, then proceeds to step K.
- step G it is determined which rudder blade has the largest compensating control angle.
- step H the control angles are scaled to reduce the largest compensating control angle to the maximum control angle.
- the scaling is done by means of the formulas 10 to 33.
- step I it is checked whether the amount of the predetermined depth rudder is greater than or equal to 1 and whether the amount of the scaled depth rudder is less than 1. If this is the case, then continue with step L, this is not the case, then continue with step J.
- step J the individual rudder positions are calculated for the control angles scaled in step H.
- the calculation is made according to the formulas 34 to 37.
- step L the variable-roll steering angles are calculated by formulas 38 to 49.
- step M the individual rudder positions for the scaled control variables are calculated according to the formulas 5 to 8 or according to the formulas 34 to 37.
- step K the rudder blades are activated.
- Fig. 2 the four rudder blades and the virtual rudder 50 and the virtual depth rudder 60 are shown, being seen here in the direction of travel from behind the submarine.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Feedback Control In General (AREA)
- Earth Drilling (AREA)
- Elevator Control (AREA)
- Moulding By Coating Moulds (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016006933.3A DE102016006933B3 (en) | 2016-06-10 | 2016-06-10 | Method for compensating the blockage of a rudder blade in an X-rudder |
PCT/EP2017/064017 WO2017211982A1 (en) | 2016-06-10 | 2017-06-08 | Method for compensating the blockage of a rudder blade in an x-shaped rudder |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3468864A1 true EP3468864A1 (en) | 2019-04-17 |
EP3468864B1 EP3468864B1 (en) | 2020-03-04 |
EP3468864B8 EP3468864B8 (en) | 2020-04-15 |
Family
ID=59070636
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17730735.2A Active EP3468864B8 (en) | 2016-06-10 | 2017-06-08 | Method for compensating the blockage of a rudder blade in an x-shaped rudder |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3468864B8 (en) |
DE (1) | DE102016006933B3 (en) |
ES (1) | ES2794823T3 (en) |
SG (1) | SG11201810781YA (en) |
WO (1) | WO2017211982A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113716003B (en) * | 2021-09-27 | 2022-11-15 | 中国人民解放军海军工程大学 | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof |
DE102022207660A1 (en) | 2022-07-26 | 2024-02-01 | Thyssenkrupp Ag | Redundant electric steering system for a submarine and its operation |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2217878B (en) * | 1988-04-23 | 1992-01-29 | Ferranti Plc | A system including an autopilot, with a simulator, for a fluid borne vehicle |
EP2107333B1 (en) * | 2008-04-03 | 2011-01-26 | Whitehead Alenia Sistemi Subacquei S.p.A. | Method and system for steering a body moving within a fluid |
JP2013052745A (en) * | 2011-09-02 | 2013-03-21 | Kayseven Co Ltd | Submersible vessel |
DE102012222812A1 (en) * | 2012-12-11 | 2014-06-12 | Raytheon Anschütz Gmbh | Method for controlling state of vehicle e.g. underwater vehicle, involves outputting valid result at current time value of control quantity to vehicle based on optimal control value sequence |
JP6189186B2 (en) * | 2013-07-12 | 2017-08-30 | 三菱重工業株式会社 | Underwater vehicle, its control device and control method |
JP6201217B2 (en) * | 2014-11-06 | 2017-09-27 | 三菱重工業株式会社 | Rudder control device, underwater vehicle and rudder control method |
-
2016
- 2016-06-10 DE DE102016006933.3A patent/DE102016006933B3/en active Active
-
2017
- 2017-06-08 EP EP17730735.2A patent/EP3468864B8/en active Active
- 2017-06-08 SG SG11201810781YA patent/SG11201810781YA/en unknown
- 2017-06-08 WO PCT/EP2017/064017 patent/WO2017211982A1/en unknown
- 2017-06-08 ES ES17730735T patent/ES2794823T3/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2017211982A1 (en) | 2017-12-14 |
EP3468864B1 (en) | 2020-03-04 |
DE102016006933B3 (en) | 2017-11-16 |
ES2794823T3 (en) | 2020-11-19 |
SG11201810781YA (en) | 2019-01-30 |
EP3468864B8 (en) | 2020-04-15 |
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