扭矩平衡式水下机器人推进器研究

A study on torque balanced propulsors for autonomous underwater vehicles

某些水下机器人横向尺度较小,往往与其主推螺旋桨直径处于同一量级;螺旋桨旋转所带来的扭矩会使机器人产生明显的横倾;所以,在水下机器人的推进器设计过程中就必须考虑保持机器人的纵向稳定性。该文就此问题提出了一种集成式扭矩平衡推进器,该推进器利用与保护导管相连的后置定子产生反扭矩来平衡螺旋桨旋转产生的扭矩,导管、导管支架、定子与驱动主机集成为一体,推进器整体无扭矩输出,通用性强。此后给出了推进器的理论设计方法及过程,应用面元法理论对所设计推进器进行了水动力性能计算分析。最后讨论了定子各参数对推进器性能的影响。

Some of Autonomous Underwater Vehicles （AUV） has small transverse scales, which are the same dimensional level as their propeller diameters.The torque generated by the rotating propeller makes the AUV obviously heel over; accordingly, maintaining roll stability of the AUV must be considered during the propeller design work. In this paper, an new integrated torque balanced propulsor is presented to solve this problem.As to the propulsor,post-swirl stators connecting a protecting duct generate anti-torque which can balance the propeller torque. The duct, struts, stators and motor are integrated, and the propulsor has no torque to output,so the applicability of the propulsor is high.The design method and process of the propulsor are also presented; the hydrodynamic characteristics of the propulsor are calculated and analyzed based on the surface panel method theory; and the impacts of some stators parameters upon characteristics of the propulsor are discussed.