The invention relates to an X-shaped rudder angle distribution method suitable for an underwater vehicle, and solves the problem of X-shaped rudder angle distribution aiming at the condition that a traditional cross-shaped rudder distribution algorithm is not suitable for an X-shaped rudder. After a required rudder angle is calculated according to a real-time attitude and a control instruction of the underwater vehicle, the influence of rolling of the vehicle on the steering effect is considered, rudder angle distribution is performed on four steering engines of the X-shaped rudder according to the corresponding steering effect, and a steering instruction of the X-shaped rudder of the underwater vehicle is obtained. According to the method, the difference between the integral structure and the control surface distribution form of the steering engine of the cross-shaped rudder and the X-shaped rudder is considered, a rudder angle distribution algorithm of a traditional cross-shaped rudder is abandoned, aiming at the unique control surface distribution form of the X-shaped rudder, the influence of the rolling angle of the navigation body on the rudder effect of the X-shaped rudder is comprehensively considered, the rudder angle distribution algorithm of the X-shaped rudder is redesigned, and the design of the rudder angle distribution algorithm of the X-shaped rudder is optimized. Therefore, the maneuvering characteristics of the underwater navigation body are improved, and guarantee is provided for operation of the underwater navigation body under severe conditions.

    本发明涉及一种适用于水下航行体的X型舵舵角分配方法,针对传统十字型舵的分配算法无法适用于X型舵的情况,解决了X型舵舵角分配的问题。依据水下航行体的实时姿态和控制指令计算所需舵角后,考虑航行体横滚对舵效的影响,按相应舵效对X型舵的四个舵机进行舵角分配,得到水下航行体X型舵操舵指令。本发明考虑了十字型舵与X型舵舵机整体结构及舵面分布形式的差异,摒弃了传统十字型舵的舵角分配算法,针对X型舵独有的舵面分布形式,综合考虑航行体横滚角对X型舵舵效产生的影响,对X型舵舵角分配算法进行重新设计,从而提高水下航行体机动性能,为水下航行体恶劣条件下运行提供保障。


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    Title :

    X-shaped rudder angle distribution method suitable for underwater vehicle


    Additional title:

    一种适用于水下航行体的X型舵舵角分配方法


    Contributors:
    ZHAO AIGANG (author) / ZHANG TIANTIAN (author) / XU XIAORONG (author) / DU PENG (author) / TIAN LIHONG (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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