EP3568346A1 - Device and method for controlling an underwater vehicle - Google Patents
Device and method for controlling an underwater vehicleInfo
- Publication number
- EP3568346A1 EP3568346A1 EP18700846.1A EP18700846A EP3568346A1 EP 3568346 A1 EP3568346 A1 EP 3568346A1 EP 18700846 A EP18700846 A EP 18700846A EP 3568346 A1 EP3568346 A1 EP 3568346A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- depth
- acceleration
- speed
- trim
- keel
- 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 63
- 230000001133 acceleration Effects 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 230000005484 gravity Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013598 vector Substances 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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
-
- 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
Definitions
- the invention relates to a device and a method for controlling an underwater vehicle, wherein the device is designed for carrying out a method for determining hydrodynamic coefficients of an underwater vehicle.
- the z-direction is the direction perpendicular to the longitudinal axis of the submarine, with positive values pointing downwards.
- the y-direction is the direction transverse to the longitudinal axis of the submarine, with positive values pointing to starboard.
- the propulsion speed which corresponds to the speed u, which the boat at the current propeller speed in advance driving on even
- the coefficient for describing the normal force Z as a function of a dimensionless value the coefficient describing the normal force Z as a function of the product u ⁇ w, a dimensionless value, the coefficient describing the normal force Z as a function of the product u ⁇ ⁇ w ⁇ , a dimensionless value, the coefficient of description the normal force Z as a function of
- hydrodynamic torque about the y-axis also called ramming moment
- the coefficient for describing the ramming moment M a dimensionless value, the coefficient for describing the ramming moment M as a function of u ⁇ w, a dimensionless value, the coefficient for describing the ramming moment M as a function of u
- the object of the invention is to provide a device, wherein the device with a method determines the hydrodynamic coefficients on a real submarine and uses them for precise control.
- the inventive device for controlling an underwater vehicle has at least one front hydroplane and at least one rear depth rudder.
- the underwater vehicle has at least one first ballast tank and at least one first trim tank and at least one second trim tank.
- the control device has means for controlling the at least one front depth rudder, the at least one rear depth rudder, the at least one first ballast tank, the at least one first trim tank and the at least one second trim tank.
- the device is designed to carry out a first operating state and to carry out a second operating state, wherein the device automatically performs a method for determining hydrodynamic coefficients in the first operating state and controls the underwater vehicle according to a predetermined course in the second operating state, wherein in the second operating state the first Operating state specific hydrodynamic coefficients are used.
- the method for determining hydrodynamic coefficients comprises the following steps:
- steps a) to I) are carried out in any order.
- the step m) is carried out after the steps a) to I).
- a pitch angle ⁇ of the submarine is from -1 ° ⁇ ⁇ + 1 °, preferably from -0.2 ° ⁇ ⁇ + 0.2 °, particularly preferably from -0.05 ° ⁇ ⁇ + 0.05 ° to understand.
- the pitch angle is the angle between the longitudinal axis of the submarine and the projection of the longitudinal axis of the submarine into the plane and thus reflects the inclination in the z direction.
- a pitch angle ⁇ of the submarine of
- Acceleration-free travel is understood to mean an operating mode in which the boat moves at a constant speed, wherein constant is to be regarded as constant within the scope of the detection accuracy and control accuracy.
- the various first speeds and second speeds are indicated by the index /.
- / 1 for the first first speed and the first second speed
- i 2 for the second first speed and the second second speed.
- the measured values for the trips are evaluated with a flat keel.
- the measured values obtained in steps a) to d) are used as a function of
- regression lines give as limits for u -> co the rear depth rudder angle ⁇ sn and front rudder angle 5 b, n for the so-called buoyancy and torque-free ride. Only the limit values are evaluated here.
- the filling volume of the control cell a dimensionless value, the trim cell filling, wherein the trimming moment M
- the rudder angle is measured according to FIG and become the values and determined.
- the coefficients result from this as mean values.
- the z-component of the boat's center of gravity including flooded clearances for the state of buoyancy-free and torque-free travel; the z-coordinate of the center of gravity of the displacement in the boat
- the determination takes place from the measured data by means of multilinear regression using the variables already known from a).
- Stability lever arm z GB determined.
- steps a) to d) are performed in addition to steps a) to d): n) acceleration-free travel with a flat keel at constant depth and at a third first speed and a first first trim position,
- first speeds in particular a total of five to eight first speeds, particularly preferably six first speeds.
- further second velocities in particular a total of four to eight second velocities, particularly preferably five second velocities, are used.
- the first velocities are selected from the range from 4 kN to 25 kN, preferably from the range from 5 kN to 20 kN, particularly preferably from the range from 6 kN to 15 kN.
- the second velocities are selected from the range from 4 kN to 25 kN, preferably from the range from 5 kN to 20 kN, particularly preferably from the range from 6 kN to 14 kN.
- an angle of + 15 ° to + 25 °, in particular + 18 ° to + 22 ° is selected as the first front rudder position and that as the second front rudder position an angle of -15 ° up to - 25 °, in particular from - 18 ° to - 22 °.
- the method is carried out such that the diving depth is chosen such that at least 25 m, preferably at least 50 m, more preferably at least the length of the submarine, water above the submarine and at least 25 m , preferably at least 50 meters, most preferably at least the length of the submarine, are water below the submarine.
- This method determines the hydrodynamic coefficients in the uninfluenced deep water area.
- the method is carried out such that the immersion depth is selected such that less than 25 m, preferably less than 15 m, water above the submarine and at least 25 m, preferably at least 50 m, most preferably least the length of the submarine are water under the submarine.
- This method determines the hydrodynamic coefficients in the near-surface region and is important, for example, for snorkeling. This method is preferably used in addition to the determination in the uninfluenced deep water area.
- the method is carried out such that the diving depth is chosen such that at least 25 m, preferably at least 50 m, more preferably at least the length of the submarine, water above the submarine and less than 25 m, preferably less than 15 m, are water under the submarine.
- This method determines the hydrodynamic coefficients in the baseline area and is important, for example, for submerged cruises in shallow water. This method is preferably used in addition to the determination in the uninfluenced deep water area.
- the speed u of the submarine, the front depth rudder angle of the rear depth rudder angle, the volume change of the trim tanks and the volume change of the control cell are detected during the acceleration-free rides.
- the rotational speed n of the screw and the trim angle 6> are additionally recorded during the acceleration-free travel.
- the roll angle und and volume change of the ballast tank are additionally respectively determined during acceleration-free travel detected.
- the weight distribution in the submarine is kept constant until the targeted changes during the process. In particular, care is taken to ensure that the crew does not change their position, as this leads to undetectable mass shifts and thus reduces the measurement accuracy of the method.
- step m the coefficients
- V CT1 and V CT2 Fill volume of the control cell V CT1 and V CT2> the trim cell fillings V TT1 and V TT2 and the rudder angles for buoyancy and torque-free travel.
- the first first trim layer and the second first trim layer are selected differently by 500 kNm ⁇ 50 kNm.
- steps e) and I) a first second trim layer and a second second trim layer are selected, wherein the first second trim layer and the second second trim layer are selected differently by 1000 kNm ⁇ 100 kNm ,
- step m) the coefficients and
- the stability lever arm determines z rD .
- flow forces at rudder and hull Since the flow forces in submerged travel increase with the square of the driving speed, while the static forces remain constant, there is the possibility of determining the flow forces or hydrodynamic coefficients from the compensation of known statically induced weight forces with previously unachieved accuracy. All measuring runs are carried out at different constant speeds and different predetermined trim angles of the boat by appropriate laying of front and rear depth rudder at constant depth. This results in the ability to determine hydrodynamic coefficients depending on the depth of the boat or the distance of the boat to the water surface.
- the device is designed to change during operation in the second operating state at a suitable predetermined course in the first operating state.
- the invention in another aspect, relates to a method of automatically controlling an underwater vehicle, the method of automatically controlling an underwater vehicle comprising a method of determining hydrodynamic coefficients and a method of calculating the control measures.
- the automatic control method includes the following steps:
- step II control of the underwater vehicle using the hydrodynamic coefficients determined in step I).
- the method for determining hydrodynamic comprises the following steps:
- steps a) to I) are carried out in any order.
- the step m) is carried out after the steps a) to I).
- step II) the control behavior of the underwater vehicle predicted with the hydrodynamic coefficients agrees with the real control behavior of the underwater vehicle.
- step I) is carried out again in the event of a deviation in the control behavior.
- step II) it is checked in step II) whether step I) can be carried out within a predefined control specification.
- step I) a change to step I) can be prevented in step II).
- step I) of the method can not be used during the modes of crawl and combat.
- Fig. 1 the angles and sizes are shown using the example of a submarine with a rudder.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Probability & Statistics with Applications (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017200470.3A DE102017200470B4 (en) | 2017-01-12 | 2017-01-12 | Device and method for controlling an underwater vehicle |
PCT/EP2018/050038 WO2018130431A1 (en) | 2017-01-12 | 2018-01-02 | Device and method for controlling an underwater vehicle |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3568346A1 true EP3568346A1 (en) | 2019-11-20 |
EP3568346B1 EP3568346B1 (en) | 2020-09-09 |
EP3568346B8 EP3568346B8 (en) | 2020-11-04 |
Family
ID=61007664
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18700846.1A Active EP3568346B8 (en) | 2017-01-12 | 2018-01-02 | Device and method for controlling an underwater vehicle |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3568346B8 (en) |
DE (1) | DE102017200470B4 (en) |
WO (1) | WO2018130431A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109436196B (en) * | 2018-10-23 | 2020-10-30 | 上海船舶研究设计院(中国船舶工业集团公司第六0四研究院) | Ship inclination test device, ship and ship inclination test method |
DE102018218231B3 (en) | 2018-10-24 | 2020-02-13 | Thyssenkrupp Ag | Method of navigating an underwater vehicle and underwater vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6343896A (en) * | 1986-08-11 | 1988-02-24 | Nec Corp | Automatic control device for weight trim of underwater boat |
DE19635670A1 (en) | 1996-09-03 | 1998-03-05 | Gabler Ing Kontor Luebeck | Monitoring system for the driving condition of a submarine |
JP3033571B1 (en) * | 1999-01-21 | 2000-04-17 | 日本電気株式会社 | Submersible depth control system |
JP2004334714A (en) * | 2003-05-09 | 2004-11-25 | Yamaha Motor Co Ltd | Parameter optimization method, parameter optimization device, parameter optimization program, and sailing control device |
RU2537080C1 (en) | 2013-10-18 | 2014-12-27 | Федеральное государственное бюджетное учреждение науки Институт проблем управления им. В.А. Трапезникова Российской академии наук | System for determining hydrodynamic coefficients of mathematical model of ship movement |
-
2017
- 2017-01-12 DE DE102017200470.3A patent/DE102017200470B4/en active Active
-
2018
- 2018-01-02 WO PCT/EP2018/050038 patent/WO2018130431A1/en unknown
- 2018-01-02 EP EP18700846.1A patent/EP3568346B8/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3568346B8 (en) | 2020-11-04 |
DE102017200470A1 (en) | 2018-07-12 |
DE102017200470B4 (en) | 2019-02-21 |
EP3568346B1 (en) | 2020-09-09 |
WO2018130431A1 (en) | 2018-07-19 |
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