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浙江大学学报(工学版)
浙江大学学报(工学版)  2020, Vol. 54 Issue (3): 450-458    DOI: 10.3785/j.issn.1008-973X.2020.03.004
机械工程     
嵌套Z轴式水下矢量推进系统建模与特性分析
张雷(),徐海军*(),邹腾安,徐小军,常雨康
国防科技大学 智能科学学院，湖南 长沙 410073
Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts
Lei ZHANG(),Hai-jun XU*(),Teng-an ZOU,Xiao-jun XU,Yu-kang CHANG
College of Intelligence, National University of Defense Technology, Changsha 410073, China
 全文: PDF(1952 KB)   HTML
摘要：

为提高矢量推进系统的水密性和承载能力，提出一种内、外嵌套Z轴机构，实现螺旋桨的矢量推进. 建立矢量推进系统运动学模型，获得矢量轴偏转角与内、外Z轴转角的关系. 推导驱动电机偏转角反解公式，搭建Simulink与ADAMS联合仿真模型. 将反解结果代入仿真模型，仿真矢量轴偏转过程. 通过对比仿真曲线与理论分析结果，检验模型的正确性. 分析矢量推进系统偏转过程中运动副的力学特性，结果表明：基于反解数据仿真得到的矢量轴偏转角与给定结果吻合程度较高，在矢量轴偏转过程中，内、外Z轴偏转电机上的驱动力矩呈周期性变化，且幅值随着偏转角度的增大而逐渐增大.
关键词： 嵌套Z轴;  矢量推进;  潜航器;  联合仿真;  力学特性    
Abstract:

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.
Key words: nested Z-shafts    vector propulsion    underwater vehicle    combined simulation    mechanical property
收稿日期: 2019-01-22 出版日期: 2020-03-05
CLC:  TH 132  
基金资助: 湖南省自然科学基金资助项目（2018JJ3605）；国家自然科学基金计划资助项目（51705524，51575519，51675524）
通讯作者: 徐海军     E-mail: cvx1987@163.com;xuhaijun_1999@163.com
作者简介: 张雷（1987—），男，讲师，从事新型机械传动研究. orcid.org/0000-0002-0946-0893. E-mail： cvx1987@163.com
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引用本文:

张雷,徐海军,邹腾安,徐小军,常雨康. 嵌套Z轴式水下矢量推进系统建模与特性分析[J]. 浙江大学学报(工学版), 2020, 54(3): 450-458.

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.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2020.03.004    或    http://www.zjujournals.com/eng/CN/Y2020/V54/I3/450

图 1  嵌套Z轴式矢量推进系统结构简图
图 2  嵌套Z轴式矢量推进系统传动系结构简图
图 3  嵌套Z轴式矢量推进系统机构原理图
图 4  嵌套Z轴式矢量推进系统坐标系
图 5  嵌套Z轴式矢量推进系统偏转过程示意图
图 6  万向节坐标系建立
图 7  嵌套Z轴式矢量推进系统简化模型约束施加结果
图 8  嵌套Z轴式矢量推进系统联合仿真建模结果
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
表 1  理论计算及联合仿真结果对比
图 9  ADAMS与Simulink联合仿真模型结果误差分析
图 10  不同外Z轴转角条件下的螺旋桨质心轨迹
图 11  给定目标点情况下的螺旋桨质心轨迹
图 12  内Z轴单独运动时的螺旋桨质心轨迹
图 13  偏转试验过程中内Z轴的转动特性
图 14  内、外Z轴扭矩随时间的变化曲线
图 15  内Z轴万向节内部作用力随时间的变化曲线
图 16  作用在螺旋桨上的推力与扭矩随时间的变化曲线
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