嵌套Z轴式水下矢量推进系统建模与特性分析

Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts

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.

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.