An inner and outer nested Z-shafts mechanism was proposed to realize the vector propulsion of propeller, in order to increase the water tightness and bearing capacity of vector propulsion system. Kinematic model of vectored thrusting system was established to achieve relationship between deflection of vectored shaft and angular displacement of inner and outer Z-shafts. The inverse solution formula of deflection angle for driving motors was derived; a simulation model combining Simulink and ADAMS was established. The inverse solution results were substituted into the model to simulate the deflection process of vectored shaft. The simulated curve and theoretical results were compared to verify the correctness of the model. The mechanical properties of kinematic pairs during deflection process of vectored thrusting system were studied. Results show that the deflection angle of vectored shaft by the simulation model based on inverse solution fits well with the given values. The torque applied on driving motors of inner and outer Z-shafts varies cyclically during the deflection process of vectored shaft, while the amplitude increases gradually with the increase of the deflection angle.
Lei ZHANG,Hai-jun XU,Teng-an ZOU,Xiao-jun XU,Yu-kang CHANG. Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts. Journal of ZheJiang University (Engineering Science), 2020, 54(3): 450-458.
Fig.1Schematic of vector propulsion system with nested Z-shafts
Fig.2Motion transmission schematic of vector propulsion system based on nested Z-shafts
Fig.3Mechanism schematic disgram of vector propulsion system based on nested Z-shafts
Fig.4Coordination of vector propulsion system based on nested Z-shafts
Fig.5Deflection process of vector propulsion system based on nested Z-shafts
Fig.6Establishment of universal joint coordinate system
Fig.7Application of joint constrain on vector propulsion system based on nested Z-shafts
Fig.8Conbined simulation model of vector propulsion system based on nested Z-shafts
目标点
xd
xr
yd
yr
α/(°)
β/(°)
1
0.100
0.092
0.100
0.109
2.103
2.642
2
0.300
0.306
0.400
0.414
0.706
–2.585
3
–0.400
–0.410
–0.150
–0.150
–1.344
0.686
4
–0.400
–0.398
0.300
0.319
–0.848
2.180
5
0
0.005
0.500
0.514
0.066
3.080
Tab.1Comparison of theoretical calculation and joint simulation results
Fig.9Error analysis of simulation combining ADAMS and Simulink results
Fig.10Trace of propeller under different rotation angles of outerZ-shaft
Fig.11Trace of propeller’s center under given target points
Fig.12Trace of propeller center driven only by internal Z-shaft
Fig.13Motion characteristics of inter Z-shaft during deflection experiment
Fig.14Torque curves applied on inner and outer Z-shafts with resepct to time
Fig.15Curves of force and torque applied on universal joint installed on inter Z-shaft with resepct to time
Fig.16Curves of force and torque applied on propeller with respect to time
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