变螺距推进器设计与研究  

Design and Research of Propeller Based on Variable Pitch

作　　者：张宏伟[1] 陈东源 张玉鹏 刘珺 Zhang Hongwei;Chen Dongyuan;Zhang Yupeng;Liu Jun(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学机械工程学院,天津300350

出　　处：《天津大学学报（自然科学与工程技术版）》2023年第8期775-784,共10页Journal of Tianjin University：Science and Technology

基　　金：国家重点研发计划资助项目(2019YFC0311701);中国工程院院地合作重大咨询项目(2021DFZD2).

摘　　要：本文提出了一种采用螺距变化方式实现侧向力输出的水下航行器推进器方案.该推进器内部有主推电机、螺距控制电机及齿轮组,螺距控制轴与推进主轴同轴安装,通过对电机转速进行控制可以周期性地改变桨叶的螺距角,从而实现侧向力输出.采用计算流体动力学(CFD)方法对该推进器的水动力特性进行了研究,结果表明:采用正弦曲线的规律控制螺距角变化可以产生稳定的侧向力,侧向力曲线在桨盘极坐标下为圆形;平均侧向力方向与螺距控制初始相位方向一致;在螺距角变化幅值为9°的情况下,产生的平均侧向力大小约为40 N.此外还仿真研究了侧向力、推力与螺距角变化幅值、转速的关系,结果表明:当螺距角变化采用正弦曲线时,推进器产生的平均侧向力与螺距角变化幅值及转速的平方成正比;而平均推力受螺距角变化幅值影响不大,与转速的平方成正比.将仿真结果应用于自主水下航行器(AUV)的动力学模型,验证装有此推进器的AUV的操纵情况.计算结果表明,当水下升潜和水平回转运动时,采用基于螺距控制的推进器可以实现良好的操纵效果.相较于传统的螺旋桨+舵的操纵方式,该方案结构简单、减少了电机数量、提升了AUV艉部空间利用率.与已有矢量推进方案相比,变螺距推进器具有结构简单、可靠性高、侧向力可控性好的优点.台架测试结果表明该变螺距原理能够实现桨叶螺距的周期调整,可用于实现AUV平台的矢量推进.A scheme of underwater robot propeller which used variable pitch to realize lateral force output is proposed.The propeller has a main thrust motor,a pitch control motor and a gearset inside,and the pitch control shaft is mounted coaxial with the propulsion spindle.By controlling the motor,the pitch angle of the blade can be controlled periodically to realize the lateral force output.The hydrodynamic characteristics of the propeller are studied by computational fluid dynamics(CFD)method,and the results show that the lateral force can be generated by using the rule of sine curve to control the change of pitch angle;the lateral force curve is circular under the polar coordinate of the propeller disk;the direction of average lateral force is consistent with the initial phase direction of variable pitch;and when the pitch angle change amplitude is 9°,the average lateral force generated is about 40 N.In addition,the relationship between the lateral force,thrust,and the amplitude of pitch angle change,the rotation speed is also simulated.The results show that when the pitch angle change adopts a sine curve,the average lateral force generated by the propeller is proportional to the pitch angle change amplitude and the square of the rotational speed;and the generated average thrust is not greatly affected by the amplitude of the pitch angle change,which is proportional to the square of the speed.The simulation results are applied to the autonomous underwater vehicle(AUV)dynamics model to verify the control of the AUV equipped with this propeller.The calculation results show that the AUV using this propeller can achieve good maneuvering effects when diving,floating underwater and turn-ing horizontally.Compared with the traditional propeller+rudder control mode,the structure is simple,the number of motors is reduced,and the utilization rate of AUV stern space is improved.Compared with the existing vector pro-pulsion scheme,variable pitch propeller has the advantages of simple structure,high reliability and good lateral for

关 键 词：推进器 螺距变化 计算流体动力学仿真 运动学与动力学 

分 类 号：TK448.21[动力工程及工程热物理—动力机械及工程]