CN113247223A

CN113247223A - Rotary type AUV horizontal fin backward popup stability augmentation device

Info

Publication number: CN113247223A
Application number: CN202110661625.2A
Authority: CN
Inventors: 杜晓旭; 宋保维; 潘光; 刘鑫; 王鹏
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-08-13
Anticipated expiration: 2041-06-15
Also published as: CN113247223B

Abstract

The invention relates to a rotor type AUV horizontal fin backward ejection stability augmentation device, belonging to the fields of hydrodynamics, underwater vehicle maneuverability and stability; the horizontal fin popping mechanism comprises an AUV cross fin rudder and horizontal fin popping movable fin mechanisms arranged on horizontal fins of the AUV cross fin rudder, wherein the left and right horizontal fin popping movable fin mechanisms are symmetrically arranged on the horizontal fins on two sides; the left horizontal fin popping mechanism comprises a movable fin and a fin popping mechanism, the rear end of the movable fin is arranged on the end surface of the horizontal fin through the fin popping mechanism, and the movable fin can be controlled to rotate through the fin popping mechanism, so that the movable fin pops outwards or retracts relative to the horizontal fin; the fin ejection mechanism is positioned at the tail end of the horizontal fin, namely at the end close to the AUV propeller. The mechanism has compact structure, does not influence the overall appearance layout of the aircraft, and can be used for a rotary AUV control system.

Description

Rotary type AUV horizontal fin backward popup stability augmentation device

Technical Field

The invention belongs to the fields of hydrodynamics, maneuverability of an underwater vehicle and stability, and particularly relates to a rotor type AUV horizontal fin backward ejection stability augmentation device.

Background

The ocean is an important field of human survival and sustainable development, and the development and utilization of the ocean becomes one of the basic factors for determining the state deterioration. The ocean will become the main competitive field of international development, which includes more new economic competition guided by high and new technologies. How to explore and exploit ocean resources is one of the most popular problems in this century. The unmanned underwater vehicle which has strategic significance in economy, politics and military is used as a main tool for marine transportation, has the characteristics of small volume, easiness in operation and control, high economy and the like, becomes a hotspot of ocean engineering technology, and the design research and development value of the unmanned underwater vehicle gradually rises.

Autonomous Underwater Vehicles (AUV). AUV is not paid attention from all countries because of its wide application prospect in military and civil fields. The AUV is used as an underwater highly integrated system, needs to autonomously navigate to a specified position and autonomously complete various underwater operations, such as fixed-point hovering or fixed-area hovering, whirling operation, vertical floating, submerging and the like, has high requirements on the stability of the AUV during autonomous navigation, but has considerable maneuvering performance during underwater operations, and the underwater environment is complex, but the influence of ocean environments such as ocean currents, waves and the like on maneuverability is not negligible, and the nonlinearity and the coupling of a dynamic model of the AUV, so that the AUV is required to have good maneuverability.

AUV maneuverability refers to the ability to change or maintain the attitude, depth and heading of motion via a steering mechanism or other power mechanism, such as a dynamic positioning system (i.e., a series of propellers). Maneuverability includes two aspects: one is the ability to maintain motion, i.e., stability; another is the ability to change the state of motion, i.e., mobility. With the gradual maturity and perfection of ship maneuverability theory, the maneuverability of submarines, AUVs and other submersibles draws wide attention.

The gyrorotor AUV inevitably needs to do various micro-speed or even zero-speed operation motions underwater, and the traditional cross-shaped fin rudder system is difficult to keep the navigation stability of the AUV in the working state.

In the prior art, application number CN2019106949094 is a method for reducing the rolling and pitching of an AUV by using a self-provided horizontal rudder, which is used for carrying out detailed analysis on the stress and motion conditions of the horizontal rudder when the AUV is subjected to wave interference to generate rolling and pitching motion, determining the motion mode of the horizontal rudder in the rolling and pitching periods according to the stress analysis of the horizontal rudder under the interference, and controlling the rolling and pitching of the AUV based on a lift model of the horizontal rudder and the stabilizing moment under the rolling and pitching motion. The technical scheme improves the anti-interference capability of the AUV from the angle of a control model. However, this solution cannot cope with the problem of stability of the low-speed vessel in a complicated marine situation. Firstly, when the aircraft is in a low-speed state, the fluid stress condition of the aircraft will obviously change, and the control force and the control torque cannot meet the requirement of stable control. Secondly, the marine environment under natural conditions is more complex, and the stress situation has obvious time-varying control scheme which can not cope with the complex marine environment. Finally, the technical scheme is influenced by a mechanical structure, so that the stability augmentation capability of the aircraft is limited, and the requirement of high stability under extreme conditions cannot be met.

In the technical scheme, the problems of direct navigation resistance and dynamic instability are solved through the deformed main wing plate and the deformed auxiliary wing plate, and the submarine glides in a large range and is fused with a high-speed direct navigation dual mode. However, this technical solution cannot be applied to the conventional revolved body AUV because the inner space and the outer shape of the main and flap need to be additionally installed are largely changed. Secondly, the gliding and high-speed direct sailing dual-mode sailing can not be matched with the prior revolving body AUV which mostly depends on power systems such as propellers and the like, and the applicability of the gliding and high-speed direct sailing dual-mode sailing is greatly limited. Meanwhile, the technical scheme provides a relevant solution for high-speed direct navigation instability, and the problem of AUV low-speed navigation instability under the low-speed or micro-speed condition of less than 3kn cannot be effectively solved.

There is therefore a need for a new fin-rudder arrangement with a compact structure that does not affect the overall profile of the aircraft. The stability of the rotary AUV is improved, and the AUV can better adapt to the requirements of various working conditions such as low navigational speed and the like on maneuverability and stability.

Disclosure of Invention

The technical problem to be solved is as follows:

in order to avoid the defects of the prior art, the invention provides a rotary AUV horizontal fin backward ejection stability enhancement device, which comprises a cross fin steering mechanism, a horizontal ejection movable fin mechanism consisting of a movable fin, a fin ejection mechanism and a positioning locking device, and a rotary AUV horizontal fin backward ejection stability enhancement device consisting of the movable fin, the fin ejection mechanism and the positioning locking device. Under the condition that the rotary type AUV is at a low navigational speed of below 3kn, the traditional cross fin rudder system is difficult to keep the stable navigation of the AUV, and the rotary type AUV can be stably manipulated and moved under the low navigational speed condition acted by a dynamic positioning system.

The technical scheme of the invention is as follows: a swivel type AUV horizontal fin backward popup stability augmentation device comprises an AUV cross fin rudder; the method is characterized in that: the left horizontal fin popping mechanism and the right horizontal fin popping mechanism are symmetrically arranged on the horizontal fins on the two sides;

the left horizontal fin popping mechanism comprises a movable fin and a fin popping mechanism, the rear end of the movable fin is mounted on the end surface of the horizontal fin through the fin popping mechanism, and the movable fin can be controlled to rotate through the fin popping mechanism, so that the movable fin pops outwards or retracts relative to the horizontal fin; the fin ejection mechanism is positioned at the tail end of the horizontal fin, namely close to one end of the AUV propeller;

the right horizontal ejecting movable fin mechanism and the left horizontal ejecting movable fin mechanism have the same structure and are not described repeatedly.

The further technical scheme of the invention is as follows: the fin ejecting mechanism comprises a hydraulic push rod, a long pin shaft, a hydraulic cylinder and a hydraulic pump, the long pin shaft is fixed at the inner vertex of the rear end of the movable fin plate, and the rear end of the movable fin plate is connected with the rear end of the horizontal fin through the long pin shaft and can rotate relatively; the hydraulic pump drives the hydraulic push rod to do telescopic motion along the axial direction of the hydraulic push rod, and the axial direction of the hydraulic push rod is parallel to the axial direction of the AUV and the end surface of the horizontal fin; the outer end head of the hydraulic push rod is fixed with the inner side of the rear end of the movable fin plate, the hydraulic cylinder drives the hydraulic pump and the hydraulic push rod in sequence, and the movable fin plate is driven to rotate by the axial extension/contraction of the hydraulic push rod, so that the recovery/expansion function of the movable fin plate is realized; meanwhile, the rotation angle of the movable fin plate can be realized through the telescopic fixed distance function of the hydraulic push rod.

The further technical scheme of the invention is as follows: the fin popping mechanism further comprises a short pin shaft, a transverse slide way and a longitudinal slide way, wherein the transverse slide way and the longitudinal slide way are arranged on the horizontal fin, and the short pin shaft is fixed at the outer side vertex of the rear end of the movable fin plate; the transverse slide is used as a sliding track of the short pin shaft, is correspondingly arranged at the position, close to the outer edge, of the horizontal fin and is vertical to the axial direction of the AUV main body; the longitudinal slide way is used as a sliding track of the long pin shaft, is correspondingly arranged at the root of the horizontal fin and is parallel to the axial direction of the AUV main body;

the long pin shaft on the movable fin plate is driven to do linear motion along the longitudinal slideway and the short pin shaft on the movable fin plate is driven to do linear motion along the transverse slideway by the axial extension/contraction of the hydraulic push rod; when the long pin shaft moves to the front end point of the longitudinal slideway, the short pin shaft moves to the inner end point of the transverse slideway, and the movable fin plate is in an unfolded state perpendicular to the axial direction of the AUV; when the long pin shaft moves to the rear end point of the longitudinal slideway, the short pin shaft moves to the outer end point of the transverse slideway, and the movable fin plate is in a recovery state; therefore, the long pin shaft and the short pin shaft are matched with the transverse slide way and the longitudinal slide way to realize the positioning and locking of the movable fin plate.

The further technical scheme of the invention is as follows: the movable fin plate is of a flat plate structure, a notch is formed in the position, close to the outer edge, of the upper end face of the horizontal fin, the notch and the movable fin plate are arranged correspondingly, and the notch can be filled up after the movable fin plate is recycled to form the complete horizontal fin.

The further technical scheme of the invention is as follows: the movable fin plate is characterized in that a cover plate is arranged on the upper surface of the movable fin plate, the appearance of the cover plate is consistent with that of the horizontal fin plate, and the movable fin plate can be shielded between the cover plate and the horizontal fin plate.

The further technical scheme of the invention is as follows: the movable fin plate is of a nearly triangular flat plate structure, and the vertex of the triangle positioned at the outer side of the rear end is an obtuse angle.

The further technical scheme of the invention is as follows: after the movable fins of the left horizontal ejecting movable fin mechanism and the right horizontal ejecting movable fin mechanism are unfolded, the area of the horizontal fin is increased by 82%, and the unfolding length of the horizontal fin is increased by 525%.

Advantageous effects

The invention has the beneficial effects that: the invention discloses a rotary body type AUV horizontal fin backward popup stability augmentation device which consists of a fixed cross-shaped fin rudder mechanism and a horizontal popup movable fin plate mechanism. The invention provides a swivel type AUV horizontal fin backward ejection stability-increasing device which is formed by matching a horizontal ejection movable fin mechanism on the basis of a cross rudder. The mechanism has compact structure, does not influence the overall appearance layout of the aircraft, and can be used for a rotary AUV control system.

The total extended length of the contralateral fin when not extended is 120% of the diameter of the gyrator-type AUV. Through experimental research, under the condition of low-speed navigation below 3kn, when the fin area is increased by 80% on the basis and the fin length is increased by 75% on the basis, the maneuverability of the rotary AUV is improved by more than 70%, and the mechanism can increase the area of the control fin by nearly 82% compared with the area when the control fin is not popped up, and increase the expansion of the fin by 525% compared with the area when the control fin is not popped up, so that the stability of the rotary AUV can be greatly improved.

The movable fin plate ejected backwards by the mechanism is in an obtuse triangle shape, the inclined edge faces to the current advancing direction of the revolving body AUV, the short edge is parallel to the axis of the revolving body AUV, the long edge is perpendicular to the axis of the revolving body AUV, and the overall layout is consistent with the advancing direction of the revolving body AUV. The invention increases the wetting area of the stabilizing fin after the horizontal fin is popped up. According to theoretical formula analysis, as the hydrodynamic force and the control force received by the aircraft are reduced in a certain proportion when the aircraft enters a micro-speed state, the stability of the aircraft is insufficient, and the instability problem is easy to occur. Through K-T analysis, the transverse rolling maneuverability and the longitudinal plane maneuverability are contrastively analyzed, and the improvement of different degrees is obtained.

The invention can allow the rotary type AUV to rapidly enter a working state and pop up the movable fin plate when the operation stability is required to be improved, and the stability of the AUV is improved, and the AUV can better adapt to the requirements of various operating conditions on the operability and the stability of various degrees.

1. The driving device of the invention is a hydraulic ejection mechanism, which comprises a hydraulic rod, a pin shaft, a hydraulic cylinder and a hydraulic pump.

2. The movable fin plate is driven to do linear motion along the longitudinal slideway by the axial extension/contraction of the hydraulic push rod, the short pin shaft on the movable fin plate is driven to do linear motion along the transverse slideway, and further the movable fin plate is rotated. Accurate position control can be realized through simple connection structure, and influence on stability due to deflection angle errors can be avoided.

3. The movable fin plate is arranged at the notch of the upper end surface of the horizontal fin, the notch can be filled after the movable fin plate is recovered to form a complete horizontal fin, the original state of the horizontal fin is kept when the horizontal fin plate does not need to be popped out and unfolded in normal operation, and the original stability and control force of the horizontal fin plate are not influenced; and meanwhile, the extra load of the AUV is not increased while the device is added.

Drawings

FIG. 1 is a schematic perspective view of an AUV and a horizontal fin backward ejection stabilization device;

FIG. 2 is a schematic diagram of an internal structure of a horizontal fin backward ejection stabilization device;

FIG. 3 is a schematic view of the bottom view of the horizontal fin backward ejection stabilization device;

FIG. 4 is a schematic structural view of a fin plate fixed by a horizontal fin backward ejection stabilizing device;

FIG. 5 is a schematic structural view of a movable fin plate of the horizontal fin backward ejection stabilizing device;

FIG. 6 is a schematic structural view of a cover plate of the device for ejecting the stabilizing element backward from the horizontal fin;

FIG. 7 is a schematic closing view of the movable fin plate of the horizontal fin backward ejection stabilizing device;

FIG. 8 is a schematic view of the horizontal fin being opened by ejecting the movable fin of the augmentation stabilizing device backward;

FIG. 9 is a schematic diagram of a horizontal fin backward ejection stabilizing device in an un-ejected state;

FIG. 10 is a diagram illustrating a pop-up state of the horizontal fin backward pop-up stabilization device;

description of reference numerals: 1-gyrorotor AUV; 2-ejecting a stability augmentation device behind the horizontal fin; 3-fixing the fin plate; 4-a movable fin; 5-short pin shaft; 6-long pin shaft; 7-cover plate; 8-hydraulic push rod; 9-a transverse slideway; 10-longitudinal slideway.

Detailed Description

The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Referring to fig. 1 and 2, the rotary body type AUV horizontal fin backward popup stability enhancement device comprises an AUV cross fin rudder and horizontal popup movable fin mechanisms arranged on horizontal fins of the AUV cross fin rudder, wherein the left and right horizontal popup movable fin mechanisms are symmetrically arranged on the horizontal fins on two sides;

the left horizontal fin popping mechanism comprises a movable fin and a fin popping mechanism, the rear end of the movable fin is mounted on the end surface of the horizontal fin through the fin popping mechanism, and the movable fin can be controlled to rotate through the fin popping mechanism, so that the movable fin pops outwards or retracts relative to the horizontal fin; the fin ejection mechanism is positioned at the tail end of the horizontal fin, namely close to one end of the AUV propeller; the right horizontal ejecting movable fin mechanism and the left horizontal ejecting movable fin mechanism have the same structure and are not described repeatedly.

The structural principle of the invention is as follows:

referring to fig. 1 to 10, the present embodiment is a device for ejecting and stabilizing a horizontal fin backward, and is composed of a revolving body AUV1 and a device for ejecting and stabilizing a horizontal fin backward 2. The horizontal fin backward ejection stability augmentation device 2 is composed of a fixed fin plate 3, a movable fin plate 4, a short pin shaft 5, a long pin shaft 6, a cover plate 7 and a hydraulic push rod 8. The gyrorotor AUV1 is fixedly connected with the horizontal fin backward ejection stability augmentation device 2 by adopting a rivet; the movable fin plate 4 is movably hinged with a transverse slideway 9 and a longitudinal slideway 10 on the fixed fin plate 3 through a short pin shaft 5 and a long pin shaft 6 respectively, and the movable fin plate can move along the slideways, so that the fixed fin plate 3 is connected with the movable fin plate 4; the cover plate 7 is fixedly connected with the fixed fin plate 3 through a plurality of rivets; the shell part of the hydraulic push rod 8 is positioned in the revolving body AUV1 and fixedly connected with the revolving body AUV1, the push rod part is hinged with the long pin shaft 6, the long pin shaft 6 pulls the movable fin plate 4, the long pin shaft 6 moves towards the front of the revolving body AUV along the longitudinal slide way 10, and the short pin shaft 5 moves towards the axis close to the revolving body AUV1 along the transverse slide way 9, so that the movable fin plate 4 is opened.

As shown in fig. 1, the AUV and the schematic perspective view of the horizontal fin backward ejection stabilizing device are shown in fig. 1, the AUV modifies the horizontal rudder on the basis of the cross-shaped fin rudder, and a closed position groove of the movable fin 4 is designed on the horizontal fin, so that the movable fin 4 does not affect the original horizontal fin shape when closed. As shown in the schematic structural diagram of the fixed fin of the backward ejection stability enhancement device of the horizontal fin in fig. 4, a horizontal slideway 9 and a longitudinal slideway 10 are designed on the horizontal fin, when the movable fin 4 is in a working state, the hydraulic push rod 8 contracts to drive the long pin shaft 6 to move to the extreme position of the longitudinal slideway 10, and at the moment, the movable fin 4 rotates by 90 degrees around the short pin shaft 5 to reach a working position and is locked at the working position by the hydraulic push rod 8. The mechanism ensures that the movable cross fin mechanism is flexible and stable, the reaction is rapid, the stability of the AUV is improved, and meanwhile, the AUV can better adapt to the requirements of various operating conditions on the maneuverability and the stability of various degrees.

The embodiments of the present invention are as follows:

as shown in fig. 7, when the working state does not have a high stability requirement on the revolving body AUV1, the movable fin 4 is located in the position groove of the fixed fin 3, and the position of the movable fin 4 is ensured to be fixed by the short pin shaft 5, the long pin shaft 6, the hydraulic push rod 8, the transverse slideway 9 and the longitudinal slideway 10.

When the revolving body AUV1 is in a working state with high stability requirement, as shown in fig. 8, the movable fin plate of the stabilizing device is popped out backward from the horizontal fin and opened, the hydraulic push rod 8 is contracted to pull the long pin shaft 6 to move forward along the longitudinal slide way 10, and at the same time, the long pin shaft 6 drives one end of the movable fin plate 4 to move forward and rotate around the short pin shaft 5, because the distance between the two pin shafts is fixed, the short pin shaft 5 also moves left and right along the transverse slide way 9 in the moving process of the long pin shaft 6, and when the long pin shaft 6 reaches the front limit position of the longitudinal slide way 10, the movable fin plate 4 rotates 90 degrees and reaches the working position.

The horizontal fin is popped backwards to enable the stability augmentation device 2 to enter a popping working state, due to the fact that the movable fin 4 is popped, the area of the control fin is increased by nearly 82% compared with the area when the control fin is not popped, and the expansion length of the fin is increased by 525% compared with the area when the control fin is not popped, therefore, the stability of AUV control is greatly improved, and the AUV can meet the working condition of high control stability.

The invention relates to a device for popping up and stabilizing a horizontal fin of a rotary body type AUV (autonomous underwater vehicle) operating system backwards, which can stably operate and move the rotary body AUV under the condition that a dynamic positioning system acts at a certain navigational speed. The installation and the disassembly are simple, the structure is stable and reliable, and the use is convenient. This patent can allow solid of revolution AUV to get into operating condition rapidly when needing to improve the operating stability, pops out movable fin, when improving AUV's stability, makes the requirement of the various different operating modes of better adaptation of AUV to the maneuverability and the stability of various degrees.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. A swivel type AUV horizontal fin backward popup stability augmentation device comprises an AUV cross fin rudder; the method is characterized in that: the left horizontal fin popping mechanism and the right horizontal fin popping mechanism are symmetrically arranged on the horizontal fins on the two sides;

2. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 1, wherein: the fin ejecting mechanism comprises a hydraulic push rod, a long pin shaft, a hydraulic cylinder and a hydraulic pump, the long pin shaft is fixed at the inner vertex of the rear end of the movable fin plate, and the rear end of the movable fin plate is connected with the rear end of the horizontal fin through the long pin shaft and can rotate relatively; the hydraulic pump drives the hydraulic push rod to do telescopic motion along the axial direction of the hydraulic push rod, and the axial direction of the hydraulic push rod is parallel to the axial direction of the AUV and the end surface of the horizontal fin; the outer end head of the hydraulic push rod is fixed with the inner side of the rear end of the movable fin plate, the hydraulic cylinder drives the hydraulic pump and the hydraulic push rod in sequence, and the movable fin plate is driven to rotate by the axial extension/contraction of the hydraulic push rod, so that the recovery/expansion function of the movable fin plate is realized; meanwhile, the rotation angle of the movable fin plate can be realized through the telescopic fixed distance function of the hydraulic push rod.

3. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 2, wherein: the fin popping mechanism further comprises a short pin shaft, a transverse slide way and a longitudinal slide way, wherein the transverse slide way and the longitudinal slide way are arranged on the horizontal fin, and the short pin shaft is fixed at the outer side vertex of the rear end of the movable fin plate; the transverse slide is used as a sliding track of the short pin shaft, is correspondingly arranged at the position, close to the outer edge, of the horizontal fin and is vertical to the axial direction of the AUV main body; the longitudinal slide way is used as a sliding track of the long pin shaft, is correspondingly arranged at the root of the horizontal fin and is parallel to the axial direction of the AUV main body;

4. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 1, wherein: the movable fin plate is of a flat plate structure, a notch is formed in the position, close to the outer edge, of the upper end face of the horizontal fin, the notch and the movable fin plate are arranged correspondingly, and the notch can be filled up after the movable fin plate is recycled to form the complete horizontal fin.

5. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 1, wherein: the movable fin plate is characterized in that a cover plate is arranged on the upper surface of the movable fin plate, the appearance of the cover plate is consistent with that of the horizontal fin plate, and the movable fin plate can be shielded between the cover plate and the horizontal fin plate.

6. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 1, wherein: the movable fin plate is of a nearly triangular flat plate structure, and the vertex of the triangle positioned at the outer side of the rear end is an obtuse angle.

7. The swivel-type AUV horizontal fin backward ejection stability augmentation device of claim 1, wherein: after the movable fins of the left horizontal ejecting movable fin mechanism and the right horizontal ejecting movable fin mechanism are unfolded, the area of the horizontal fin is increased by 82%, and the unfolding length of the horizontal fin is increased by 525%.