Development of Roll Control System for a Towed Vehicle

在这项研究中，我们开发了一种简单、高可靠的牵引车横摇控制系统。作业深度0~200m，拖航速度4~20节。最大横摇力矩为1.8微米/2千克/米，重量40千克，耐压壳由不锈钢制成，前端固定的螺旋桨在海水流动的作用下旋转并产生电能。这为控制鳍提供了带有电力装置和马达的电力。容器的最大允许压力是20atm。尾鳍以不对称的方式旋转，产生拖车的横摇控制力矩。在测功机旁边安装了调节电压变化的电池。电池旁边有一个CPU。摇摆和鳍角被记录在该CPU中，由其控制鳍片。在CPU旁边安装了一个倾斜仪来测量横倾角。在这个阶段，使用该系统来控制拖车的横摇，因为这是最普遍和最重要的需求，但在未来也可能进行俯仰控制。电机驱动器和电机设置在后部。目前正在进行循环水风洞的长时间运行试验，以验证该系统的高耐久性，并为该系统申请了专利。

In this study, we developed a simple and high reliable roll control system for a towed vehicle. The operating depth is 0-200m, towing velocity 4-20 knots. The maximum roll moment is 1.8 U2kg-m, weight 40 kg and pressure hull is made of stainless steel.A propeller fixed at the forepart rotates by the flow of sea water and generates the electric power. This provides electric power with electric devise and a motor for the control fins. The maximum allowable pressure for the vessel is 20 atm. The rear part fins rotates in asymmetric way and generates the roll control moment for a towed vehicle.In the next to the dynamometer batteries are fixed, which regulate the voltage variations. A CPU is located next to the batteries. The roll and fin angle are recorded in this CPU, which control the fins. Next to the CPU a clinometers is fixed to measure the roll angle.In this stage the roll of a towed vehicle is control by using this system because the needs for this is most popular and important but in future the pitch control is also possible. A motor driver and motor are set at the rear part. We are now carrying out the long time operation tests in the circulating water tunnel to verify the high endurance ability of the system and we also apply a patent for this system.