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CN-122009451-A - Phase speed regulation multi-mode remote detection underwater vehicle with bow fin

CN122009451ACN 122009451 ACN122009451 ACN 122009451ACN-122009451-A

Abstract

The application discloses a phase speed regulation multi-mode remote detection underwater vehicle with a bow fin, which relates to the technical field of underwater vehicles, and comprises a boat body consisting of a bow open water cabin, a middle pressure-resistant cabin and a stern open water cabin, wherein a movable battery pack is arranged in the middle pressure-resistant cabin and used for regulating the gravity center of the vehicle and generating pitching moment, a phase speed regulation vector propeller part is arranged in the stern open water cabin and used for providing propulsion and controlling heading and attitude, a fixed bow fin is fixedly arranged on the outer surface of the boat body and positioned in front of the bow or the gravity center of the vehicle and used for reducing the heading and pitching attitude static stability margin of the vehicle, and a non-driven passive lodging antenna is arranged in the stern open water cabin and used for standing in a water surface or shallow water state to complete communication and passively lodging in the boat body.

Inventors

  • ZHANG HONGWEI
  • ZHANG HONGXIAO
  • Lang Haotian
  • ZHANG XIAOBING

Assignees

  • 天津大学

Dates

Publication Date
20260512
Application Date
20260402

Claims (10)

  1. 1. The utility model provides a take phase place speed governing multimode remote detection underwater vehicle of fin which characterized in that includes: The boat body comprises a bow open water tank (1), a middle pressure-resistant tank (2) and a stern open water tank (13); The movable battery pack is arranged in the middle pressure-resistant cabin (2) and is used for adjusting the gravity center of the aircraft by changing the position of the movable battery pack so as to generate pitching moment; The phase speed regulation vector propeller is partially arranged in the stern open water cabin (13) and is used for providing propulsion and controlling the heading and the attitude of the aircraft; The fixed bow fin (19) is fixedly arranged on the outer surface of the boat body and positioned in front of the bow part or the gravity center of the aircraft, and is used for generating additional hydrodynamic force when the sideslip angle and the attack angle of the aircraft change, so that the action point of the equivalent hydrodynamic force moves forward to reduce the static stability margin of the heading and the trim attitude of the aircraft; the passive lodging antenna is arranged in the stern open water cabin (13) and is used for standing under the water surface or shallow water state to complete communication, and the passive lodging antenna is passively lodged into the boat body under the underwater state by virtue of water pressure.
  2. 2. The phase-regulating multimode remote-detecting underwater vehicle with the bow fins according to claim 1, wherein the fixed bow fins (19) are symmetrically arranged on the outer surface of the vehicle body by adopting any one of cross-shaped layout and herringbone layout or combination of the cross-shaped layout and the herringbone layout, and the fin surface area and the profile parameters of the fixed bow fins (19) are configured to keep the vehicle in a stable and controllable state in the full working speed range of the vehicle.
  3. 3. The multi-mode remote detecting underwater vehicle with the bow fin according to claim 1, wherein the movable battery pack comprises a servo motor (7), a coupler (16), a screw rod (5), a nut (4), a guide rail (17), a storage battery pack (3) and a bearing (18); The servo motor (7) is fixedly connected with an internal frame of the aircraft, and an output shaft is connected with one end of a screw rod (5) through a coupler (16), bearings (18) are arranged at two ends of the screw rod (5), the screw rod (5) and a nut (4) form a ball screw pair, and balls roll in a spiral raceway to reduce friction; When the aircraft needs to adjust the pitching attitude in profile movement or depth large-amplitude change movement, the servo motor (7) drives the screw rod (5) to rotate through the coupler (16), the driving nut (4) generates linear displacement, and the storage battery pack (3) is driven to move forwards and backwards along the guide rail (17) so as to adjust the center of gravity of the aircraft.
  4. 4. The multi-mode remote detecting underwater vehicle with the bow fin according to claim 3, wherein the movable battery pack further comprises a wire-drawing sensor (6), and the wire-drawing sensor (6) is used for acquiring position information of the storage battery pack (3) in real time.
  5. 5. The bow fin-equipped phase-regulated multimode remotely-detected underwater vehicle according to claim 1, wherein the phase-regulated vector propeller comprises a waterproof motor (12), an asymmetric propeller (11), a position sensor, a navigation and control system (15); the navigation and control system (15) is arranged in the middle pressure-resistant cabin (2), the asymmetric propeller (11) is arranged on an output shaft of the waterproof motor (12), the position sensor is arranged on the waterproof motor (12) and used for acquiring angular position or phase information of the output shaft of the waterproof motor (12), and the navigation and control system (15) is respectively and electrically connected with the position sensor and the waterproof motor (12) and used for controlling the waterproof motor (12) to output different rotating speeds at different phase angles within one circle of rotation according to feedback of the position sensor so as to drive the asymmetric propeller (11) to generate vector thrust.
  6. 6. The bow fin-equipped phase-locked multimode remotely-detected underwater vehicle of claim 5, wherein the asymmetric propeller (11) is of a single-blade configuration.
  7. 7. The bow fin-equipped phase speed regulation multimode remote detection underwater vehicle according to claim 1, wherein the passive lodging antenna without drive comprises an antenna (8), a cylinder (10), a piston (14) and a connecting rod (9); the antenna (8) and the air cylinder (10) are respectively and rotatably connected with an internal frame of the aircraft, the piston (14) is arranged in the air cylinder (10) in a sliding way, a sealing cavity is formed between the air cylinder (10) and the piston (14), and pre-pressed gas is filled in the sealing cavity; When the aircraft is in a water surface or shallow water state, the pre-pressing gas acts on the piston (14) and provides supporting moment for the antenna (8) through the connecting rod (9), so that the antenna (8) keeps vertical, when the aircraft is submerged, external water pressure increases along with the increase of depth, the piston (14) is pushed to move axially along the cylinder (10), the pre-pressing gas in the sealed cavity is compressed, the movement of the piston (14) drives the antenna (8) to rotate around the rotating shaft to a lodging state through the connecting rod (9), when the aircraft floats to the water surface, the external water pressure is reduced, the compressed pre-pressing gas expands, the piston (14) is pushed to move reversely, and the antenna (8) is driven to restore to vertical through the connecting rod (9).
  8. 8. The multi-mode remotely-controlled, bow-fin-equipped underwater vehicle according to claim 7, characterized in that the antenna (8) or the cylinder (10) is provided with a limiting structure for limiting the maximum rotation angle of the antenna (8) about the rotation axis or limiting the maximum travel of the piston (14).
  9. 9. The fin-based phased multi-mode remotely-located underwater vehicle of claim 1, wherein the vehicle has a plurality of modes of operation, comprising: a profile motion mode, wherein the pitching attitude is regulated by a movable battery pack to maintain large pitching angle motion, and a phase speed regulation vector propeller provides propulsion and controls heading; In a constant-depth or constant-height cruising mode, a phase speed-regulating vector propeller provides propulsion and realizes heading and attitude control, and a movable battery pack assists in adjusting the trim attitude.
  10. 10. The phase-regulated multimode remotely-detected underwater vehicle with the bow fin according to claim 9, wherein the bow open water tank (1) is used for carrying a marine detection sensor so as to realize remote detection of profile data or depth and height data.

Description

Phase speed regulation multi-mode remote detection underwater vehicle with bow fin Technical Field The invention relates to the technical field of underwater vehicles, in particular to a phase speed regulation multi-mode remote detection underwater vehicle with a bow fin. Background With the continuous growth of the demands for marine observation and exploration, remotely-probed underwater vehicles play a key role in the development of marine resources. Currently, the main stream equipment mainly comprises a long-range Cheng Shuixia glider and a long-range autonomous underwater vehicle, and typical working modes of the main stream equipment comprise profile movement and constant-depth or constant-altitude cruising. The profile motion mode is suitable for water parameter profile measurement by periodically floating and diving to form a saw-tooth track, and the constant-depth or constant-height cruising mode focuses on long-distance horizontal continuous coverage type mapping. However, prior art systems face multiple challenges. In the aspect of task adaptability, the traditional underwater glider can only execute profile movement and cannot meet the requirement of diversified tasks, although the hybrid-driven underwater glider tries to integrate the profile movement and the constant-depth sailing capability, multiple control units such as a variable buoyancy system, wings, a steering engine, a propeller and the like are required to be configured at the same time, so that the complexity of the system is obviously increased, the control strategy is complicated, the long-range autonomous underwater vehicle mainly performs fin rudder control, and performs well in constant-depth cruising, but the large pitch angle posture is required to be maintained in a cooperative mode by a rudder surface and a propeller when the profile movement is executed, so that the energy consumption is too high and the pitch angle adjusting range is limited. In the aspect of propulsion technology, the vector propulsion technology based on phase speed regulation has the advantages of simple structure and high reliability. However, existing underwater vehicles generally arrange additional structures such as antennas, fins, etc. at the tail to enable the water power action point to be moved backwards and improve the navigation stability, but the layout reduces the maneuvering effect of the phase-governor vector propeller while increasing the stability. In addition, in the process of profile movement, in order to maintain the large pitch angle submerging posture, the phase speed regulating vector propeller needs to continuously output large vector thrust, so that the power consumption is increased, and long-term stable operation is difficult. In the aspect of a communication system, the exposed antenna on which the water surface communication depends generates significant additional resistance during underwater navigation, so that the navigation efficiency is directly reduced, and the scheme of partially adopting the active driving type lodging mechanism can reduce the resistance, but increases the mechanical complexity and the extra electric energy consumption, so that the sustainable execution of long-term navigation tasks in open sea is not facilitated. The defects limit the endurance mileage, the task flexibility and the energy utilization efficiency of the aircraft together, and breakthrough needs to be realized through innovative design. Disclosure of Invention In view of the above, the invention provides the phase-speed-regulation multi-mode remote detection underwater vehicle with the bow fin, which has the advantages of improving task adaptability, reducing energy consumption, enhancing dynamic response capability and reducing communication resistance, thereby improving endurance mileage and energy efficiency. The invention provides a phase-position speed-regulating multi-mode remote detection underwater vehicle with a bow fin, which comprises the following components: The boat body comprises a bow open water tank, a middle pressure-resistant tank and a stern open water tank; the movable battery pack is arranged in the middle pressure-resistant cabin and is used for adjusting the gravity center of the aircraft by changing the position of the movable battery pack so as to generate pitching moment; The phase speed regulation vector propeller is partially arranged in the stern open water cabin and is used for providing propulsion and controlling the heading and the attitude of the aircraft; the fixed bow fin is fixedly arranged on the outer surface of the boat body and positioned in front of the bow part or the gravity center of the aircraft, and is used for generating additional hydrodynamic force when the sideslip angle and the attack angle of the aircraft change, so that the equivalent hydrodynamic force action point moves forward to reduce the static stability margin of the heading and the trim attitude of the aircraft; The passiv