摘要
针对现有拖曳式水下潜器控制机构复杂、航向与姿态不容易稳定的缺陷,提出和设计了一种具有航向与姿态稳定的多自由度可控制拖曳式水下潜器样机。该样机主要由鱼雷状浮体、固定水平主翼、转角可控制襟翼、立式翼型主体等部分组成,潜器的深度控制通过控制襟翼的偏转来诱导固定水平主翼攻角的改变来实现;潜器的横荡运动操纵以通过控制两个作为转艏控制器的导管螺旋桨的转向与转速、诱导立式翼型主体产生诱导力矩使其产生横向偏转来进行。文中所提出和设计的样机具有运动过程中自我稳定能力强、航向稳定性好、控制机构简单并具有较高实用价值的特点。
Aiming at the defect of complicated control mechanism and unstable attitude and heading in conventional controllable underwater towed vehicles, this paper designs and presents a controllable underwater vehicle with multiple degrees of freedom being towed by attitude and directional stability. The vehicle is composed of torpedo-shaped buoyant cylinders, fixed horizontal main wing, adjustable wing flap, and vertical airfoil main body. Depth control of the vehicle is accomplished by the change of the deflection of wing flap, which induces the attack angle change of horizontal fixed main wing to depress the vehicle at a required water depth. Control manipulation on yawing and swaying motions of the vehicle is carried out by altering the rotating speeds and directions of the two ducted propellers to generate an induced turning moment which causes a heading change of the vertical airfoil main body to drive the vehicle in swing motion. The proposed vehicle possesses the features of strong self-stability in multiple degrees of motions, stable heading in directional towing, relatively simple way in control mechanisms, and higher value in practical applicability.
出处
《海洋技术学报》
2015年第4期1-6,共6页
Journal of Ocean Technology
基金
国家自然科学基金资助项目(11372112)
关键词
水下潜器
拖曳
航向稳定性
横荡操纵
深度控制
underwater vehicle
towing
directional stability
swaying manipulation
depth control
