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Attitude control device and method for flying-wing-type underwater glider

The technology of an attitude control device and an underwater glider is applied in the directions of underwater ships, underwater operation equipment, motor vehicles, etc., which can solve the problems of high requirements on cabin space, and achieve the effects of flexible layout, convenient maintenance and high control precision.

Active Publication Date: 2014-07-02
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing public documents, the attitude adjustment is generally achieved by adjusting the position of a weight, which requires relatively high space in the cabin

Method used

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  • Attitude control device and method for flying-wing-type underwater glider
  • Attitude control device and method for flying-wing-type underwater glider
  • Attitude control device and method for flying-wing-type underwater glider

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Experimental program
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Embodiment Construction

[0019] The present invention will be described in more detail below with reference to the accompanying drawings.

[0020] combine figure 1 , the composition of the attitude control system for the flying-wing underwater glider includes a pumping station cabin 1, four adjustment liquid tanks 2, 3, 4, 5, and pipelines 21, 31, 41, 51 connected between each cabin , 32, 54. The composition of each cabin and pipeline is a closed system, and there is no material communication with the outside world. Moreover, each cabin and the pipelines between the cabins can resist external water pressure, so that the system can maintain a normal pressure environment inside it in deep water and ensure the normal operation of the equipment in the cabin.

[0021] The pumping station cabin is the dispatching center of the whole system, and the exchange of ballast fluid between liquid tanks must pass through the pumping station cabin. The four regulating liquid tanks are divided into two groups, the ...

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Abstract

The invention provides an attitude control device and method for a flying-wing-type underwater glider. The device comprises a pump station cabin and four adjusting liquid cabins. The upper portion and the lower portion of each adjusting liquid cabin are provided with through holes. The four adjusting liquid cabins are arranged in a cross shape. The through holes of the upper ends of two opposite adjusting liquid cabins are communicated through a pipeline. The through hole in the lower end of each adjusting liquid cabin is connected with the pump station cabin through a pipeline. The pipeline through which the lower end of each adjusting liquid cabin is connected with the pump station cabin is provided with a solenoid valve, namely four solenoid valves are included. Liquid is used as media for gravity center adjusting, the parts are connected through pipelines, and the cabins can be flexibly arranged. Meanwhile, due to the continuity of liquid, adjusting control accuracy is high. In addition, the cabins are relatively independent, so that maintaining and equipment updating are convenient.

Description

technical field [0001] The invention relates to a system for adjusting the attitude of a flying-wing underwater glider by changing the position of the center of gravity. Background technique [0002] Unmanned submersibles can be widely used in seabed biological resource exploration, mineral resource sampling, seabed topographic survey, sunken object salvage, seismic geothermal activity monitoring, marine environment monitoring, marine engineering maintenance, etc. [0003] The underwater glider is a kind of unmanned submersible and a typical ocean exploration platform. It can move in a wide range, and its power is provided by the difference between buoyancy and gravity. With the horizontal and vertical adjustment of the center of gravity and the wings, it can complete forward sailing and adjustment of attitude and heading angle. It has low cost, low noise, and long range. It can be used to measure the salinity, temperature, and current of seawater in a wide range, and even ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/14B63C11/52
CPCB63G8/22
Inventor 李晔王奥博陈云赛王骁冰王子豪姜言清李一鸣陈鹏云王磊峰
Owner HARBIN ENG UNIV
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