往复正推矢量推进器设计及动力学模型仿真分析  

Design and dynamic model simulation analysis of reciprocating forward thrust vector propeller

作　　者：宋智斌 武一帆[1] 康荣杰 戴建生[4,5] SONG Zhibin;WU Yifan;KANG Rongjie;DAI Jiansheng(School of Mechanical Engineering,Tianjin University,Tianjin 300354,China;Key Laboratory of Mechanism Theory and Equipment Design,Ministry of Education,Tianjin University,Tianjin 300354,China;International Center for Advanced Mechanisms and Robotics,Tianjin University,Tianjin 300354,China;Institute for Robotics,Southern University of Science and Technology,Shenzhen 518055,Guangdong China;Centre for Robotics Research,King′s College London,London WC2R 2LS,United Kingdom)

机构地区：[1]天津大学机械工程学院,天津300354 [2]天津大学机构理论与装备设计教育部重点实验室,天津300354 [3]天津大学现代机构学与机器人学中心,天津300354 [4]南方科技大学机器人研究院,广东深圳518055 [5]伦敦国王学院机器人学中心,英国伦敦WC2R 2LS

出　　处：《华中科技大学学报(自然科学版)》2024年第12期45-52,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金面上项目(51975401);国家自然科学基金创新研究群体项目(51721003)。

摘　　要：为了提高水下推进器的推进效率,提出一种新型的基于被动折展机构的往复正推推进形式,消除了横向诱导水流导致的能量损失,使推进效率提升至73.8%.将该推进方式与4-PRU并联机构相结合,设计出一种能够实现推进与转向的矢量水下推进器.利用螺旋理论分析4-PRU并联机构的自由度,证明其能够满足水下推进器的操纵性要求.建立了水下推进器的动力学模型,并以最大推进效率为优化目标,得出了不同运行速度下的最佳推进速度曲线.通过Ansys流固耦合仿真分析验证了动力学模型的可靠性.A novel reciprocating thrust vectoring propulsion form based on a passive folding mechanism was proposed to improve the propulsion efficiency of underwater propellers,which eliminated the transverse induced energy loss and increased the propulsion efficiency to 73.8%.The propulsion form was combined with a 4-PRU parallel mechanism to design a vector underwater propeller that could achieve propulsion and steering coupling.The degree of freedom of the 4-PRU parallel mechanism was analyzed by using screw theory,and it was proved that it could meet the requirements of propulsion and steering of underwater propellers.A dynamic model of the underwater propeller was established,and the optimal propulsion speed curve under different operating speeds was obtained with the maximum propulsion efficiency as the optimization objective.The reliability of the dynamic model was verified by Ansys fluid-solid coupling simulation analysis.

关 键 词：水下推进器 推进效率 矢量推进 横向诱导速度 计算流体动力学仿真 

分 类 号：TH122[机械工程—机械设计及理论]