CN108674614A - A kind of quadruple screw propeller submarine navigation device and its control method - Google Patents
A kind of quadruple screw propeller submarine navigation device and its control method Download PDFInfo
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- CN108674614A CN108674614A CN201810518216.5A CN201810518216A CN108674614A CN 108674614 A CN108674614 A CN 108674614A CN 201810518216 A CN201810518216 A CN 201810518216A CN 108674614 A CN108674614 A CN 108674614A
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- screw propeller
- propeller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention proposes that a kind of quadruple screw propeller submarine navigation device and its control method, the nacelle of aircraft use fluid dynamic shape, and electric propeller propeller there are four being fixedly mounted in such a way that " square " is arranged in nacelle surrounding.The thrust of four propellers generation of nacelle surrounding upward or downward can be utilized, the thrust difference and torsion difference generated using four propeller different rotating speeds and direction of rotation forms control moment, the gesture stability of aircraft entirety is carried out, realizes aircraft vertical lift in water and free running and the spot hover in navigation in the process at an arbitrary position；And flow can effectively be overcome to change the influence to aircraft with water density.The aircraft greatly improves payload level, headway and the flexible stability of aircraft and the volume, weight, ship resistance, the manufacturing cost and use cost that reduce aircraft without using the ballast of any other supplementary navigation, buoyancy, aerofoil, rudder face and power plant.
Description
Technical field
The present invention relates to Naval Architecture and Ocean Engineering technical equipment fields, more particularly to a kind of quadruple screw propeller submarine navigation device
And its control method.
Background technology
As mankind's fishery, the development of aquaculture and the mankind are for developing, exploring the growth of Underwater resources demand, water
Lower aircraft has huge application prospect.There are many forms for existing submarine navigation device：First, being realized using pressure water tank vertical
Lifting, that there are volume weights is huge for this mode, and load level is low, and ride hard is fixed and lifts the problems such as slow：Second is that using
Aerofoil, rudder face and this body contour of aircraft realize vertical lift in horizontal travel, and there are complicated, manipulation controls for this mode
Make it is cumbersome, the defects of cannot hovering in water：Third, the propeller control using vertical direction is vertically moved up or down, using horizontal direction
Propeller control horizontal travel, this mode, which exists, needs floating body or ballast auxiliary balance itself and load weight, shape
The shortcomings of complicated, ship resistance is big, water resistant flow disturbance energy force difference.Therefore, the technology restriction of existing submarine navigation device is broken through,
The navigation control mode that innovation and development is suitable for submarine navigation device is the key that realize that underwater navigation technology is broken through.
Invention content
In order to overcome the contour structures of generally existing in existing submarine navigation device are complicated, volume weight is huge, navigation is slow,
The problems such as flexibly stability is poor, hydrodynamic(al) efficiency is low, manufacturing cost and use cost is high, present invention firstly provides a kind of quadruple screw propeller water
Lower aircraft and its control method.
The nacelle of aircraft uses fluid dynamic shape, and is fixedly mounted in such a way that " square " is arranged in nacelle surrounding
There are four electric propeller propellers.The thrust of four propellers generation of nacelle surrounding upward or downward can be utilized, is utilized
The thrust difference and torsion difference that four propeller different rotating speeds and direction of rotation generate form control moment, carry out aircraft entirety
Gesture stability realizes aircraft vertical lift in water and free running and the fixed point during navigation at an arbitrary position
Hovering；And flow can effectively be overcome to change the influence to aircraft with water density.The aircraft is without using any other auxiliary
Ballast, buoyancy, aerofoil, rudder face and the power plant of navigation greatly improve payload level, headway and the spirit of aircraft
Stability living and volume, weight, ship resistance, the manufacturing cost and use cost for reducing aircraft.
The technical scheme is that：
A kind of quadruple screw propeller submarine navigation device, including front left side screw propeller（1）, forward right side screw propeller
（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）, left front side stand（5）, forward right side holder（6）、
Right lateral side holder（7）, left back side stand（8）With aircraft nacelle (9), the front left side screw propeller（1）It is vertical fixed
Mounted on left front side stand（5）Outer end, forward right side screw propeller（2）Vertically it is fixedly mounted on forward right side holder（6）'s
Outer end, right lateral side screw propeller（3）Vertically it is fixedly mounted on right lateral side holder（7）Outer end, left rear side propeller promote
Device（4）Vertically it is fixedly mounted on left back side stand（8）Outer end；The left front side stand（5）It is fixedly mounted on aircraft nacelle
(9) middle part front left side, forward right side holder（6）It is fixedly mounted on forward right side in the middle part of aircraft nacelle (9), right lateral side holder（7）Gu
Dingan County is mounted in right lateral side in the middle part of aircraft nacelle (9), left back side stand（8）It is fixedly mounted on left back in the middle part of aircraft nacelle (9)
Side；Front left side screw propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side spiral shell
Revolve paddle propeller（4）It is located at 4 vertex position of virtual " square " centered on the center of gravity of aircraft nacelle (9)
It sets.
Further preferred embodiment, the quadruple screw propeller submarine navigation device, it is characterised in that：The front left side propeller
Propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）For
Electric drive underwater propeller propeller.
Further preferred embodiment, the quadruple screw propeller submarine navigation device, it is characterised in that：The front left side propeller
Propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）
It can at various speeds be rotated to positive and negative both direction.
Further preferred embodiment, the quadruple screw propeller submarine navigation device, it is characterised in that：The front left side propeller
Propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）
The time of down thrust, front left side screw propeller are generated simultaneously（1）With right lateral side screw propeller（3）Direction of rotation phase
With with forward right side screw propeller（2）With left rear side screw propeller（4）Direction of rotation is opposite；Similarly generate at the same time
The time of upwards thrust is also such.
Further preferred embodiment, the quadruple screw propeller submarine navigation device, it is characterised in that：The front left side propeller
Propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）Add
Total thrust is more than the difference of aircraft own wt and the weight of same volume ponding.
Further preferred embodiment, the quadruple screw propeller submarine navigation device, it is characterised in that：The aircraft nacelle is adopted
With fluid dynamic shape.
A kind of control method of the quadruple screw propeller submarine navigation device, it is characterised in that：The quadruple screw propeller underwater navigation
Device passes through front left side screw propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, it is left back
Side screw propeller（4）Rotate jointly generate thrust upward or downward of the same size, control aircraft floating on water,
Bottom is vertically moved up or down, hovers and sat in water；Pass through front left side screw propeller（1）, forward right side screw propeller（2）, it is right
Rear side screw propeller（3）, left rear side screw propeller（4）Respectively with similar and different speed and similar and different
Direction rotates, and generates in the same size or inconsistent thrust upward or downward respectively, control aircraft in the water surface and water pitching,
Rolling, yaw and horizontal travel.
Further preferred embodiment, the control method of the quadruple screw propeller submarine navigation device, it is characterised in that：Navigation
When, front left side screw propeller（1）With right lateral side screw propeller（3）Direction of rotation is identical to be promoted with forward right side propeller
Device（2）With left rear side screw propeller（4）Direction of rotation is opposite；Adjust front left side screw propeller simultaneously（1）, right lateral side
Screw propeller（3）Rotating speed or forward right side screw propeller（2）, left rear side screw propeller（4）Rotating speed utilizes the two
The anti-twisted torque interaction generated generates yaw control moment, carries out the yaw control of aircraft；Adjust separately front left side spiral shell
Revolve paddle propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller
（4）Rotating speed generates rolling control moment and pitch control torque, carries out rolling control and the pitch control of aircraft.
Further preferred embodiment, the control method of the quadruple screw propeller submarine navigation device, it is characterised in that：Vertical boat
It when row, is synchronized and is increasedd or decreased using 4 revolution speed of propeller, control aircraft is vertically moved up or down and implements to yaw control, rolling control
System and pitch control make aircraft posture and horizontal direction stablize.
Further preferred embodiment, the control method of the quadruple screw propeller submarine navigation device, it is characterised in that：Level boat
When row, aircraft is set to be tilted to navigation direction to make by implementing yaw control, rolling control and pitch control to aircraft
Airscrew thrust generates horizontal component control aircraft and advances and keep the thrust of 4 propellers upward or downward and aircraft certainly
The lifting force for the vertical direction that body weight and horizontal travel generate realizes balance, and aircraft is made to be stably held in original depth.
Advantageous effect
Quadruple screw propeller submarine navigation device proposed by the present invention is using installation " square " arrangement in fluid dynamic nacelle
Four screw propellers, by adjusting the size of four airscrew thrusts, generation yaw, rolling, pitching moment are navigated by water
The gesture stability of device realizes the free running of aircraft, efficiently solves existing submarine navigation device contour structures complexity, hydrodynamic(al) effect
Rate is low, navigation is dumb, stability is poor and easily by place water environment disturbing influence the defects of.The quadruple screw propeller submarine navigation device can
To realize vertical lift, spot hover and arbitrary navigation in water.The quadruple screw propeller submarine navigation device can be used for providing under water
Source exploration, environmental protection, fishery, aquaculture, a variety of civilian and military fields such as go sightseeing.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Fig. 1 is a kind of quadruple screw propeller submarine navigation device layout schematic top plan view of the present invention；
Fig. 2 is a kind of quadruple screw propeller submarine navigation device layout schematic rear view of the present invention；
Fig. 3 is a kind of quadruple screw propeller submarine navigation device layout schematic side view of the present invention；
The label of each component is as follows in attached drawing：1, front left side screw propeller；2, forward right side screw propeller；3, right lateral side
Screw propeller；4, left rear side screw propeller；5, left front side stand；6, forward right side holder；7, right lateral side holder；8, left
Rear side holder；9, aircraft nacelle.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", " just ", negation, "left", "right", " vertical ", "horizontal", "top", "bottom", " in
The orientation or positional relationship of the instructions such as the heart ", "inner", "outside", " clockwise ", " counterclockwise " is orientation based on ... shown in the drawings or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, device is not indicated or implied the indicated or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in Figs. 1-3, the quadruple screw propeller submarine navigation device in the present embodiment includes front left side screw propeller（1）、
Forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）, left front side stand
（5）, forward right side holder（6）, right lateral side holder（7）, left back side stand（8）With aircraft nacelle (9), the front left side propeller
Propeller（1）Vertically it is fixedly mounted on left front side stand（5）Outer end, forward right side screw propeller（2）It is vertical to be fixedly mounted
In forward right side holder（6）Outer end, right lateral side screw propeller（3）Vertically it is fixedly mounted on right lateral side holder（7）Outer end,
Left rear side screw propeller（4）Vertically it is fixedly mounted on left back side stand（8）Outer end；The left front side stand（5）It is fixed
Mounted on front left side in the middle part of aircraft nacelle (9), forward right side holder（6）It is fixedly mounted on forward right side in the middle part of aircraft nacelle (9),
Right lateral side holder（7）It is fixedly mounted on right lateral side in the middle part of aircraft nacelle (9), left back side stand（8）It is fixedly mounted on aircraft
Left rear side in the middle part of nacelle (9)；Front left side screw propeller（1）, forward right side screw propeller（2）, right lateral side propeller pushes away
Into device（3）, left rear side screw propeller（4）Be located at one centered on the center of gravity of aircraft nacelle (9) it is virtual " just
It is rectangular " 4 vertex positions.
Four screw propellers are symmetrical all around around aircraft center of gravity in aircraft nacelle horizontal plane, four spiral shells
The Plane of rotation for revolving paddle is parallel with the horizontal plane of aircraft nacelle；The propeller when generating same direction thrust（1）And propeller
（3）Direction of rotation is identical, with propeller（2）And propeller（4）Direction of rotation is opposite.
Four screw propellers use the underwater propeller of electric drive, and each screw propeller can be to up time
Needle counterclockwise rotates and can keep various rotating speeds；The thrust that four screw propellers add up is more than aircraft itself
The difference of weight and the weight of same volume ponding.
Aircraft nacelle in the present embodiment uses fluid dynamic shape, and in order to realize aircraft, all directions are navigated by water in water
When resistance minimum be suitable for using spherical nacelle.
The control mode of above-mentioned quadruple screw propeller submarine navigation device is：
When the quadruple screw propeller submarine navigation device vertically navigates by water, propeller 1 is identical with 3 direction of rotation, propeller 2 and 4 rotation sides
To identical, propeller 1 and 3 direction of rotation are opposite with propeller 2 and 4 direction of rotation.Adjust propeller 1 and 3 rotating speeds or spiral shell simultaneously
Rotation paddle 2 and 4 rotating speeds make the anti-twisted equalising torque of the two and carry out yaw control；The rotating speed formation for adjusting separately four propellers is bowed
Torque and rolling moment are faced upward, the gesture stability of aircraft is carried out；When the thrust that four propellers add up upward or downward is more than boat
When row device own wt and the difference of the weight of same volume ponding, the vertical navigation upward or downward in water of control aircraft；When
When the thrust that four propellers add up upward or downward is equal to aircraft own wt and the difference of the weight of same volume ponding, control
Aircraft processed is hovered in water.
When navigating by water forward, the synchronous rotating speed for reducing propeller 1,2 and the synchronous rotating speed for increasing propeller 3,4 generate pitching
Control moment control aircraft tilts forwards, after aircraft reaches the pitch angle needed for headway forward, adjustment four
A propeller is to same rotational speed and adjusting separately the rotating speeds of four propellers keeps yawing, pitching moment and rolling moment flat
Weighing apparatus, control aircraft are stablized in current tilt posture and depth；Boat is controlled using the forward horizontal component that airscrew thrust generates
Row device navigates by water forward.
When navigating by water backward, the synchronous rotating speed for reducing propeller 3,4 and the synchronous rotating speed for increasing propeller 1,2 generate pitching
Control moment controls aircraft tilted rearward, after aircraft reaches the pitch angle needed for headway backward, adjustment four
A propeller is to same rotational speed and adjusting separately the rotating speeds of four propellers keeps yawing, pitching moment and rolling moment flat
Weighing apparatus, control aircraft are stablized in current tilt posture and depth；Boat is controlled using the horizontal component backward that airscrew thrust generates
Row device navigates by water backward.
When being navigated by water to left front, reduces the rotating speed of propeller 1 and increase the rotating speed of propeller 3, while keeping propeller 2,4
Rotating speed it is constant, control aircraft to left front tilt, when aircraft reaches to the angle of inclination needed for the headway of left front
Afterwards, four propellers are adjusted to same rotational speed and adjusts separately the rotating speeds of four propellers and makes yawing, pitching moment and rolling
Torque balances, and control aircraft is stablized in current tilt posture and depth；Using airscrew thrust generate to left front water
The amount of dividing equally controls aircraft and is navigated by water to left front.
When being navigated by water to right back, reduces the rotating speed of propeller 3 and increase the rotating speed of propeller 1, while keeping propeller 2,4
Rotating speed it is constant, control aircraft back sweep to the right, when aircraft reaches to the angle of inclination needed for the headway of right back
Afterwards, four propellers are adjusted to same rotational speed and adjusts separately the rotating speeds of four propellers and makes yawing, pitching moment and rolling
Torque balances, and control aircraft is stablized in current tilt posture and depth；Using airscrew thrust generate to right back water
The amount of dividing equally controls aircraft and is navigated by water to right back.
When navigating by water to the left, the synchronous rotating speed for reducing propeller 1,4 and the synchronous rotating speed for increasing propeller 2,3 generate rolling
Turn control moment control aircraft to tilt to the left, after aircraft reaches the roll angle needed for headway to the left, adjust
Whole four propellers are to same rotational speed and adjust separately the rotating speeds of four propellers and make yawing, pitching moment and rolling moment
Balance, control aircraft are stablized in current tilt posture and depth；The control of horizontal component to the left generated using airscrew thrust
Aircraft processed is navigated by water to the left.
When navigating by water to the right, the synchronous rotating speed for reducing propeller 2,3 and the synchronous rotating speed for increasing propeller 1,4 generate rolling
Turn control moment control aircraft to tilt to the right, after aircraft reaches the roll angle needed for headway to the right, adjust
Whole four propellers are to same rotational speed and adjust separately the rotating speeds of four propellers and make yawing, pitching moment and rolling moment
Balance, control aircraft are stablized in current tilt posture and depth；The horizontal component control to the right generated using airscrew thrust
Aircraft processed is navigated by water to the right.
When being navigated by water to right front, reduces the rotating speed of propeller 2 and increase the rotating speed of propeller 4, while keeping propeller 1,3
Rotating speed it is constant, control aircraft to right front tilt, when aircraft reaches to the angle of inclination needed for the headway of right front
Afterwards, four propellers are adjusted to same rotational speed and adjusts separately the rotating speeds of four propellers and makes yawing, pitching moment and rolling
Torque balances, and control aircraft is stablized in current tilt posture and depth；Using airscrew thrust generate to right front water
The amount of dividing equally controls aircraft and is navigated by water to right front.
When being navigated by water to left back, reduces the rotating speed of propeller 4 and increase the rotating speed of propeller 2, while keeping propeller 1,3
Rotating speed it is constant, control aircraft back sweep to the left, when aircraft reaches to the angle of inclination needed for the headway of left back
Afterwards, four propellers are adjusted to same rotational speed and adjusts separately the rotating speeds of four propellers and makes yawing, pitching moment and rolling
Torque balances, and control aircraft is stablized in current tilt posture and depth；Using airscrew thrust generate to left back water
The amount of dividing equally controls aircraft and is navigated by water to left back.
When yawing rotation, the rotating speed of the synchronous rotating speed for reducing propeller 1,3 and synchronous increase propeller 2,4 makes four spirals
The constant and anti-twisted torque comparison of gross thrust of paddle, which changes, controls aircraft to left drift；It is synchronous to reduce turning for propeller 2,4
The rotating speed of speed and synchronous increase propeller 1,3 makes the constant and anti-twisted torque of the gross thrust of four propellers compare the control that changes
Aircraft yaws to the right.
When pitching movement, the synchronous rotating speed for reducing propeller 1,2 and the synchronous rotating speed for increasing propeller 3,4 generate pitching
Control moment controls aircraft forward pitch；The synchronous rotating speed for reducing propeller 3,4 and the synchronous rotating speed for increasing propeller 1,2,
Generate the rearward pitching of pitch control Torque Control aircraft；The thrust that four propellers add up when movement is constant, control navigation
Device vertical direction is stablized.
When rolling movement, the synchronous rotating speed for reducing propeller 1,4 and the synchronous rotating speed for increasing propeller 2,3 generate rolling
Control moment controls aircraft rolling to the left；The synchronous rotating speed for reducing propeller 2,3 and synchronous turn for increasing propeller 1,4
Speed generates rolling control moment and controls aircraft rolling to the right；The thrust that four propellers add up when movement is constant, control boat
Row device vertical direction is stablized.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (10)
1. a kind of quadruple screw propeller submarine navigation device, it is characterised in that：Including front left side screw propeller（1）, forward right side spiral
Paddle propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）, left front side stand（5）, forward right side
Holder（6）, right lateral side holder（7）, left back side stand（8）With aircraft nacelle (9), the front left side screw propeller（1）
Vertically it is fixedly mounted on left front side stand（5）Outer end, forward right side screw propeller（2）Vertically it is fixedly mounted on forward right side branch
Frame（6）Outer end, right lateral side screw propeller（3）Vertically it is fixedly mounted on right lateral side holder（7）Outer end, left rear side spiral
Paddle propeller（4）Vertically it is fixedly mounted on left back side stand（8）Outer end；The left front side stand（5）It is fixedly mounted on navigation
Front left side in the middle part of device nacelle (9), forward right side holder（6）It is fixedly mounted on forward right side in the middle part of aircraft nacelle (9), right lateral side holder
（7）It is fixedly mounted on right lateral side in the middle part of aircraft nacelle (9), left back side stand（8）It is fixedly mounted in the middle part of aircraft nacelle (9)
Left rear side；Front left side screw propeller（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, it is left back
Side screw propeller（4）It is located at 4 tops of virtual " square " centered on the center of gravity of aircraft nacelle (9)
Point position.
2. quadruple screw propeller submarine navigation device according to claim 1, it is characterised in that：The front left side screw propeller
（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）It is driven for electric power
Dynamic underwater propeller propeller.
3. quadruple screw propeller submarine navigation device according to claim 1, it is characterised in that：The front left side screw propeller
（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）It can be to
Positive and negative both direction rotates at various speeds.
4. quadruple screw propeller submarine navigation device according to claim 1, it is characterised in that：The front left side screw propeller
（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）It produces at the same time
The time of raw down thrust, front left side screw propeller（1）With right lateral side screw propeller（3）Direction of rotation it is identical with it is right
Front side screw propeller（2）With left rear side screw propeller（4）Direction of rotation is opposite；It similarly generates and pushes up at the same time
The time of power is as the same.
5. quadruple screw propeller submarine navigation device according to claim 1, it is characterised in that：The front left side screw propeller
（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）What is added up pushes away
Power is more than the difference of aircraft own wt and the weight of same volume ponding.
6. quadruple screw propeller submarine navigation device according to claim 1, it is characterised in that：The aircraft nacelle uses stream
Body power shape.
7. a kind of control method of the quadruple screw propeller submarine navigation device described in any one of claim 1-6, it is characterised in that：Institute
It states quadruple screw propeller submarine navigation device and passes through front left side screw propeller（1）, forward right side screw propeller（2）, right lateral side spiral shell
Revolve paddle propeller（3）, left rear side screw propeller（4）It rotates jointly and generates thrust upward or downward of the same size, control
Aircraft processed is vertically moved up or down in floating on water, in water, hovers and sits bottom；Pass through front left side screw propeller（1）, forward right side
Screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）Respectively with similar and different
Speed and similar and different direction rotate, and generate in the same size or inconsistent thrust upward or downward, control navigation respectively
Device pitching, rolling, yaw and horizontal travel in the water surface and water.
8. the control method of quadruple screw propeller submarine navigation device according to claim 7, it is characterised in that：It is left front when navigation
Side screw propeller（1）With right lateral side screw propeller（3）Direction of rotation is identical with forward right side screw propeller（2）With
Left rear side screw propeller（4）Direction of rotation is opposite；Adjust front left side screw propeller simultaneously（1）, right lateral side propeller
Propeller（3）Rotating speed or forward right side screw propeller（2）, left rear side screw propeller（4）Rotating speed is generated using the two
Anti-twisted torque interaction generates yaw control moment, carries out the yaw control of aircraft；Front left side propeller is adjusted separately to push away
Into device（1）, forward right side screw propeller（2）, right lateral side screw propeller（3）, left rear side screw propeller（4）Turn
Speed generates rolling control moment and pitch control torque, realizes rolling control and the pitch control of aircraft.
9. the control method of the quadruple screw propeller submarine navigation device according to claim 7,8, it is characterised in that：Vertical navigation
When, it is synchronized and is increasedd or decreased using 4 revolution speed of propeller, control aircraft is vertically moved up or down and implements to yaw control, rolling control
Aircraft posture and horizontal direction is set to stablize with pitch control.
10. the control method of the quadruple screw propeller submarine navigation device according to claim 7,8, it is characterised in that：Horizontal travel
When, so that aircraft is tilted to navigation direction to make spiral shell by implementing yaw control, rolling control and pitch control to aircraft
Rotation paddle thrust generates horizontal component control aircraft and advances and keep the thrust of 4 propellers upward or downward and aircraft itself
The lifting force for the vertical direction that weight and horizontal travel generate realizes balance, and aircraft is made to be stably held in original depth.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518216.5A CN108674614A (en) | 2018-05-27 | 2018-05-27 | A kind of quadruple screw propeller submarine navigation device and its control method |
| PCT/CN2019/087882 WO2019228235A1 (en) | 2018-05-27 | 2019-07-09 | Underwater vessel having four propellers and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518216.5A CN108674614A (en) | 2018-05-27 | 2018-05-27 | A kind of quadruple screw propeller submarine navigation device and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108674614A true CN108674614A (en) | 2018-10-19 |
Family
ID=63808293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810518216.5A Pending CN108674614A (en) | 2018-05-27 | 2018-05-27 | A kind of quadruple screw propeller submarine navigation device and its control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108674614A (en) |
| WO (1) | WO2019228235A1 (en) |
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| CN109669469A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rolling-course coordination stability augmentation control system and method |
| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
| CN111874192A (en) * | 2020-08-05 | 2020-11-03 | 青岛理工大学 | Internet of things underwater operation system |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
| CN113697077A (en) * | 2021-09-06 | 2021-11-26 | 中国海洋大学 | Propulsion device for an aircraft, aircraft and control method for an aircraft |
| CN114148493A (en) * | 2021-12-06 | 2022-03-08 | 林荣云南科技有限公司 | Manned underwater vehicle |
| WO2024152891A1 (en) * | 2023-01-16 | 2024-07-25 | 深圳鳍源科技有限公司 | Underwater robot |
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| CN111232167B (en) * | 2020-01-08 | 2022-04-12 | 深圳潜行创新科技有限公司 | Full-freedom underwater vehicle and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
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| CN113697077A (en) * | 2021-09-06 | 2021-11-26 | 中国海洋大学 | Propulsion device for an aircraft, aircraft and control method for an aircraft |
| CN113697077B (en) * | 2021-09-06 | 2022-06-07 | 中国海洋大学 | Propulsion device for an aircraft, aircraft and control method for an aircraft |
| CN114148493A (en) * | 2021-12-06 | 2022-03-08 | 林荣云南科技有限公司 | Manned underwater vehicle |
| CN114148493B (en) * | 2021-12-06 | 2022-09-13 | 林荣云南科技有限公司 | Manned underwater vehicle |
| WO2024152891A1 (en) * | 2023-01-16 | 2024-07-25 | 深圳鳍源科技有限公司 | Underwater robot |
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| WO2019228235A1 (en) | 2019-12-05 |
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