可重构磁耦合水下推进器的磁场分析及性能评估

Magnetic analysis and performance evaluation of a reconfigurable magnetic coupling underwater thruster

在保证微小型水下机器人运动灵活的同时,降低矢量推进器机械复杂性,改善其防水密封问题,设计了一款可重构磁耦合的水下矢量推进器。基于磁耦合非接触式动力传输,解决了驱动电机与螺旋桨之间的防水问题;与此同时,采用重构机构在两自由度内改变螺旋桨位姿,实现了可重构矢量推进水下机器人的目的。在建立磁耦合磁场模型的基础上,通过ANSYS Maxwell磁场仿真与搭建的磁转矩测量装置,验证了磁场建模的正确性并分析了重构机构对磁耦合动力传输磁转矩的影响。在此基础上,进一步搭建了螺旋桨水下测力装置,评估了转速与推力以及不同重构角下最大矢量推力的变化情况。结果表明,推进器能够在[-15°,15°]两自由度可重构角范围内稳定地输出矢量推力。

A reconfigurable magnetic coupling underwater vectored thruster was designed to reduce the mechanical complexity,improve the waterproof sealing performance of micro underwater robot and ensure the flexibility of movement.Based on the non-contact magnetic coupled power transmission,the problem of waterproof between the motor and propeller was solved.Meanwhile,the reconfigurable mechanism was used to change the propeller position within two degrees of freedom,which realizes the reconfigurable vector propulsion of underwater vehicle.After establishing the magnetic field model of magnetic coupling,the correctness of magnetic field modeling was verified and the influence of reconfigurable mechanism on the magnetic torque of the magnetic coupling power transmission was analyzed by both ANSYS Maxwell magnetic field simulation and built magnetic torque measuring device.On this basis,the propeller thrust measurement device was fabricated,and the changes of rotational speed,thrust and correspondingly maximum vector thrust under different reconstruction angles were evaluated.The results show that the thruster can output the vectored force stably for the two degrees of freedom reconfigurable angles ranged between-15°and 15°.