CN-121973918-A - Underwater glider capable of hovering at fixed point and hovering at fixed point

CN121973918ACN 121973918 ACN121973918 ACN 121973918ACN-121973918-A

Abstract

The application relates to the field of underwater gliders, in particular to an underwater glider capable of hovering at fixed points and a fixed-point hovering method, the underwater glider comprises a streamline cabin, a pump arranged in the cabin from front to back along the longitudinal axis direction, a counterweight adjusting assembly and a vector propeller assembly arranged outside the cabin and positioned behind the counterweight adjusting assembly, wherein the counterweight adjusting assembly comprises a screw rod and a battery cabin which is also used as a balancing weight, the screw rod comprises a front thread section and a rear thread section which are opposite in rotation direction, the battery compartment is connected to the rear thread section through the rear nut seat, the battery compartment is located at the neutral position of the glider in the initial state, the pump is provided with a communicating water gap extending out of the compartment, a piston rod of the pump is connected to the front thread section through the front nut seat, when the screw rod rotates forward, the piston rod moves backward to enable the pump to absorb water, the battery compartment moves forward to enable the gravity center of the glider to move forward, otherwise, the gravity center of the glider moves backward, and the underwater glider has the advantage of being capable of achieving double-mode operation of long-distance gliding and fixed-point hovering.

Inventors

LAI YICHENG
CHEN YUJIE
LIU YANJI
GUO HAO
WU JIABAO
YANG RUICHENG
YANG BINRUI
SONG JIALU
CHEN YUE

Assignees

上海海事大学

Dates

Publication Date: 20260505
Application Date: 20260409

Claims (10)

1. The underwater glider capable of hovering at fixed points is characterized by comprising a streamline cabin, a pump arranged in the cabin from front to back along the longitudinal axis direction, a counterweight adjusting assembly and a vector propeller assembly arranged outside the cabin and positioned behind the counterweight adjusting assembly, The balance weight adjusting assembly comprises a screw rod and a battery compartment which is also used as a balance weight, wherein the screw rod comprises a front threaded section and a rear threaded section which are opposite in rotation direction, the battery compartment is connected to the rear threaded section through a rear nut seat, the battery compartment is positioned at the gravity center position of the glider in the horizontal balance posture in the initial state, the pump is provided with a communication water gap extending out of the compartment, and a piston rod of the pump is connected to the front threaded section through the front nut seat; The vector propeller assembly comprises X-shaped wings which are extended from the outer side of the engine room to the periphery and are symmetrically arranged along the width direction of the glider, and propeller propellers arranged at the outer end of each wing, wherein the X-shaped wings provide thrust under a set attack angle to drive the glider to advance, and the thrust direction of each propeller is parallel to the longitudinal axis direction and is used for providing yaw moment or vertical gesture conversion moment or hovering buoyancy for the glider.
2. The hover-at-point underwater glider of claim 1 wherein the pump is secured to the front end of the screw and the pump is adjacent the screw, the front thread section is adjacent the rear thread section, the front thread section lead is The rear thread section lead is The mass of the piston rod is m 1 , the mass of the battery compartment is m 2 , < ; The front end of the screw rod is taken as an origin O, and the initial coordinate position of the piston rod on the screw rod is The initial coordinate position of the battery compartment on the screw rod is The length of the piston rod is L Wherein = 。
3. The hover-at-point underwater glider of claim 2, wherein, ≤ 。
4. A hovering underwater glider according to claim 3, wherein a depth gauge for measuring the current depth of the glider is arranged on the cabin, and when the underwater glider is in a vertical hovering state, the gravity G and the thrust of the propeller are measured Buoyancy experienced by the glider itself =ρg (T) environmental disturbance The following force balance equation is satisfied: +ρg (t)- + =0 Wherein, the (T) is the volume of water displaced by the glider at time t from the movement of the pump piston rod, Is the resultant force of the thrust of the four propellers, Calculated according to the following formula: =K·Δz Wherein deltaz is the depth deviation from the target hover point, measured feedback by a depth gauge, K is a scaling factor, and determined by the target buoyancy compensation mode.
5. The hover-at-point underwater glider of claim 4 wherein the gravity G is of the magnitude of Wherein Indicating the total mass of the glider in the anhydrous state of the pump, min < <max ,min 、max Respectively represent the minimum and maximum values of the buoyancy force received by the glider itself.
6. The fixed point hovering underwater glider according to claim 2, further comprising a drive control assembly disposed in the cabin, the drive control assembly comprising a servo motor, a distributor plate, a screw motor driver and a navigational controller, the servo motor providing power for the screw drive, the screw motor driver for driving the servo motor to rotate, the screw motor driver being connected to a power source through the distributor plate, the navigational controller being electrically connected to the screw motor driver for controlling the servo motor to rotate in a forward and reverse direction, the navigational controller being electrically connected to the propeller through an electronic governor for controlling the thrust and direction of the propeller.
7. The fixed point hovering underwater glider according to claim 6, wherein the cabin comprises a main cabin barrel, a front end cover and a rear end cover which are respectively connected with the main cabin barrel in a sealing way, the pump is arranged between the main cabin barrel and the front end cover, and the driving control component is arranged between the main cabin barrel and the rear end cover; A plurality of radial fixing frames are arranged in the main cabin barrel at intervals along the longitudinal axis direction, a plurality of mutually parallel optical axes are arranged on the radial fixing frames along the circumferential direction of the surrounding screw rod, the extending direction of the optical axes is parallel to the longitudinal axis direction, the battery compartment is provided with a linear bearing in sliding fit with the optical axis, the battery compartment is provided with a plurality of battery limiting holes, and the battery limiting holes and the linear bearing are distributed in a staggered manner and are distributed at equal intervals along the circumferential direction around the rear nut seat.
8. The underwater glider capable of hovering at fixed points according to claim 1, wherein the propeller comprises a front end fairing, a motor base, a thrust motor, a duct housing, a propeller and a tail end fairing, wherein the propeller is coaxially arranged inside the duct housing, the motor base is arranged at the front end of the duct housing, the thrust motor is arranged in the motor base, the propeller extends out of the duct housing forward and is connected with a motor shaft of the thrust motor, the front end fairing is fixedly arranged at the front end of the motor base, the front end fairing is in a streamline cone structure and is used for rectifying and guiding water flow to enter the duct, and the tail end fairing is fixedly arranged at the rear end of the duct housing and is used for achieving wake rectification and protection.
9. The hover-at-point underwater glider of claim 1, wherein the outer wall of the battery compartment is in sliding contact engagement with the inner wall of a cabin made of a thermally conductive material to enable conduction of heat from the battery compartment to the outside.
10. A fixed point hover method of an underwater glider capable of fixed point hover according to claim 6, comprising the steps of: s1, hover gesture conversion, specifically comprising: S1-1, controlling a screw rod to rotate forwards, enabling the piston rod to move backwards in a pump so as to enable the pump to absorb water, enabling the battery compartment to move forwards in a cabin, enabling the gravity center of the underwater glider to move towards the front of the cabin, and enabling the glider bow to incline downwards; S1-2, driving each propeller to rotate in a mode of diagonally and equidirectionally and adjacently and reversely on the X-shaped wing to generate thrust, so that four propellers generate pitching moment, driving the stern of the glider to incline upwards and enabling the cabin to be converted towards a vertical posture; S2, adjusting the gravity center position and realizing fixed-point hovering, wherein the method specifically comprises the following steps: s2-1, after the glider finishes vertical posture conversion, the battery compartment moves to a preset gravity center position, water is sucked and discharged through the pump or the propeller is controlled to synchronously rotate, and the net buoyancy is adjusted to drive the glider to reach a target depth position; s2-2, after the glider reaches the target depth position, the pump is controlled to absorb and drain water to adjust the net buoyancy, and the depth position deviation of the glider caused by external disturbance force is corrected, so that fixed-point hovering is realized; When the deviation cannot be completely corrected through pump water suction and discharge, controlling the propeller to synchronously rotate to compensate the net buoyancy deviation until the fixed-point hovering is maintained.

Description

Underwater glider capable of hovering at fixed point and hovering at fixed point Technical Field The invention relates to the technical field of underwater gliders, in particular to an underwater glider capable of hovering at a fixed point and a fixed point hovering method. Background The current underwater craft technical route is divided into three types, namely a traditional underwater glider which is driven by buoyancy and is provided with fixed wings, fully and passively moves without hovering capability, a hybrid driving glider which is additionally provided with 1-2 horizontal propellers and is only used for assisting speed increasing or steering, the thrust direction is single, the vertical component can not be generated to counteract buoyancy unbalance, the hovering function is lost, and the full driving AUV/ROV is configured to realize hovering, but the energy efficiency ratio is low, and the cruising time is only a few hours, and the cost is high. In the prior art, chinese patent publication No. CN108216532a and publication No. 2018.06.29 discloses a fixed-wing sea-air amphibious aircraft, which can be used as an underwater glider and also as an air craft, and specifically comprises a shell component, a flight component and a pneumatic buoyancy component, wherein the flight component comprises a fixed wing and a rotor wing component, the fixed wing is used for providing lifting force when the aircraft flies horizontally or providing gliding power under water, the rotor wing component adopts 4 foldable propellers for tilting the bow of the aircraft body through rotation speed difference and generating thrust to push the aircraft to navigate in the air, and the pneumatic buoyancy component comprises an annular air bag, an air pressure sensor, an air charging and discharging valve and other structures, and the air charging and discharging body in the annular air bag is used for adjusting the net buoyancy in water to drive the glider to float to the water surface so as to provide for vertical take-off and landing or water-air mode switching. In this scheme, though can realize the regulation of organism focus position through pneumatic buoyancy subassembly to realize the zigzag gliding under the cooperation of fixed wing, realize hovering under the fixed point under the cooperation of rotor subassembly, but pneumatic buoyancy subassembly relies on withstand voltage components and devices such as high-pressure air supply, inflation exhaust valve and barometric sensor, on the one hand make the complete machine weight big, hover operation consumption is big, on the other hand, high-pressure air supply capacity is limited, the duration and the upper limit of consumption that lead to single operation of glider have obvious shortboards, in addition, provide the thrust through four rotor propellers and realize the in-process that vertical gesture was changed, the thrust resultant force that four rotors produced probably causes the organism to spin, in some cases still need set up the steering wheel and racemize, further increase structural complexity. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide a fixed-point hovering underwater glider and a fixed-point hovering method, the underwater glider and the fixed-point hovering method have the advantages of being capable of realizing fixed-point hovering, long-endurance operation, simple in structure and low in algorithm cost. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The application firstly provides an underwater glider capable of hovering at fixed points, which comprises a streamline cabin, a pump arranged in the cabin from front to back along the longitudinal axis direction, a counterweight adjusting assembly and a vector propeller assembly arranged outside the cabin and positioned behind the counterweight adjusting assembly, The balance weight adjusting assembly comprises a screw rod and a battery compartment which is also used as a balance weight, wherein the screw rod comprises a front threaded section and a rear threaded section which are opposite in rotation direction, the battery compartment is connected to the rear threaded section through a rear nut seat, the battery compartment is positioned at the gravity center position of the glider in the horizontal balance posture in the initial state, the pump is provided with a communication water gap extending out of the compartment, and a piston rod of the pump is connected to the front threaded section through the front nut seat; The vector propeller assembly comprises X-shaped wings which are extended from the outer side of the engine room to the periphery and are symmetrically arranged along the width direction of the glider, and propeller propellers arranged at the outer end of each wing, wherein the X-shaped wings provide thrust under a set attack angle to drive the glider to advance, and the thrust