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
[1]
曹秋生 “蓝鳍金枪鱼-21”自主水下潜航器技术特点分析[J]. 电光系统, 2014, 6 (2): 1- 6 CAO Qiu-sheng Technology characteristics of unmaned under water vehicle[J]. Electronic and Electroptical Systems, 2014, 6 (2): 1- 6
[2]
钱东, 唐献平, 赵江 UUV技术发展与系统设计综述[J]. 鱼雷技术, 2014, 22 (6): 401- 414 QIAN Dong, TANG Xian-ping, ZHAO Jiang Overview of technology development and system of UUVs[J]. Torpedo Technology, 2014, 22 (6): 401- 414
doi: 10.3969/j.issn.1673-1948.2014.06.001
[3]
谢源, 谭力 矢量推进混合型水下运载器的概念设计研究[J]. 船舶工程, 2015, 37 (8): 107- 110 XIE Yuan, TAN Li Conceptual design of a new hybrid vectored thruster autonomous underwater vehicle[J]. Ship Engineering, 2015, 37 (8): 107- 110
[4]
汪军, 杨俊 水下矢量推进器系统的设计与分析[J]. 长沙大学学报, 2013, 27 (9): 24- 27 WANG Jun, YANG Jun Design and analysis of underwater vectored thruster in underwater vehicle[J]. Journal of Changsha Univertsity, 2013, 27 (9): 24- 27
[5]
方世鹏. 水下矢量推进螺旋桨装置设计与研究[D]. 长沙: 国防科技大学, 2008: 5-12. FANG Shi-peng. Research on submarine truster-vectoring propulsion device [D]. Changsha: National University of Defense Technology, 2008: 5-12.
徐瀚. 水下机器人矢量推进机构的构型综合与动力学建模[D]. 济南: 山东大学, 2017: 14-16. XU Han. Configuration synthesis and dynamic modeling of spherical parallel vector thruster for underwater robot [D]. Jinan: Shandong University, 2017: 14-16.
[8]
常欣. 潜器全方向推进器的研究[D]. 哈尔滨: 哈尔滨工程大学, 2005: 7–10. CHANG Xin. Research on the variable vector propeller of submersible[D]. Harbin: Harbin Engineering University, 2005: 7–10.
[9]
冯永军. 全方向推进器的水动力性能计算与试验设计研究[D]. 哈尔滨: 哈尔滨工程大学, 2002: 12–13. FENG Yong-jun. Study on the hydrodynamic characteristics and experimental design of variable vector propeller [D]. Harbin: Harbin Engineering University, 2002: 12–13.
[10]
刘曙光. 矢量推进水下潜航器系统辨识建模与动力学特性仿真分析[D]. 天津: 天津大学, 2018: 9-16. LIU Shu-guang. System identification modeling and dynamic characteristics simulation analysis of vectored thruster underwater vehicle [D]. Tianjin: Tianjin University, 2018: 9-16.
[11]
罗庆生, 刘星栋, 弓瑞, 等 矢量喷水推进式水下机器人的建模仿真与验证[J]. 应用科技, 2017, 44 (2): 7- 14 LUO Qingsheng, LIU Xingdong, GONG Rui, et al Simulation and experimental validation of an autonomous underwater vehicle equipped with multi-vectored thrusters[J]. Applied science and technology, 2017, 44 (2): 7- 14
[12]
耿令波, 胡志强, 林扬, 等 基于横向二次射流的水下推力矢量方法[J]. 航空动力学报, 2017, 32 (8): 1922- 1932 GEN Ling-bo, HU Zhi-qiang, LIN Yang, et al Underwater thrust vectoring method based on cross second flow[J]. Journal of Aerospace Power, 2017, 32 (8): 1922- 1932
[13]
李新飞, 马强, 袁利毫, 等 矢量推进水下机器人的推力分配方法[J]. 哈尔滨工程大学学报, 2018, 39 (10): 1605- 1611 LI Xin-fei, MA Qiang, YUAN Li-hao, et al Dynamic modeling and experimental research of all deflected propeller vector propulsion device for underwater vehicle[J]. Journal of Harbin Engineering University, 2018, 39 (10): 1605- 1611
[14]
刘友, 沈清, 马东立, 等 水下滑翔机的机翼位置与螺旋运动关系分析[J]. 浙江大学学报: 工学版, 2017, 51 (9): 1760- 1769 LIU You, SHEN Qing, MA Dong-li, et al Relationship Of wing location and helical motion for underwater glider[J]. Journal of Zhejiang University: Engineering Science, 2017, 51 (9): 1760- 1769
[15]
逯玉明. 水下探测机器人设计与定位导航方法研究[D]. 扬州: 扬州大学, 2017: 12-21. LU Yu-ming. Design of underwater exploration robot and research on positioning navigation method [D]. Yangzhou: Yangzhou University, 2017: 12-21.
[16]
赵兴宇. 矢量推进水下机器人的运动控制系统设计[D]. 济南: 山东大学, 2017: 12-15. ZHAO Xin-yu. Configuration synthesis and dynamic modeling of spherical parallel vector thruster for underwater robot [D]. Jinan: Shandong University, 2017: 12-15.
毛斌峰, 陈公昌 多桨船拖桨阻力预报[J]. 广东造船, 2016, 35 (3): 23- 25 MAO Bin-feng, CHEN Gong-chang Additional drag method of multi-propeller ship in abnormal working condition[J]. Guangdong Shipbuilding, 2016, 35 (3): 23- 25
doi: 10.3969/j.issn.2095-6622.2016.03.006
[19]
翟龙迎. 水下机器人全部偏转螺旋桨矢量推进装置的动力学建模与实验研究[D]. 济南: 山东大学, 2018: 12-21. ZHAI Long-yin. Dynamic modeling and experimental research of all deflected propeller vector propulsion device for underwater vehicle[D]. Jinan: Shandong University, 2018: 12-21.
[20]
周广礼, 董文才, 欧勇鹏, 等 多桨船螺旋桨组合工况对舵水动力及回转性能的影响[J]. 海军工程大学学报, 2017, 29 (1): 29- 34 ZHOU Guang-li, DONG Wen-cai, OU Yong-peng, et al Study on rudders hydrodynamic performance and turning ability under different propeller combination modes for ships with multi-propeller[J]. Journal of Naval University of Engineering, 2017, 29 (1): 29- 34
[21]
潘存云,郭克希 水下矢量推进器的动力学分析[J]. 机械设计与研究, 2010, 26 (6): 20- 23 PAN Cun-yun, GUO Ke-xi Dynamics analysis and research of vectored thruster with propeller under the deep sear[J]. Machine Design and Research, 2010, 26 (6): 20- 23