大通径多关节矢量推进器喷口摆动特性研究

Research on swing characteristics of the large diameter multi-joint vectoring nozzle

针对大型水下航行器的大通径矢量推进器喷管全方位操纵需求,提出喷口具备全向偏转功能的一个四关节串联机构的实现方案。结合该机构所具有的冗余自由度的特点,以关节旋转角度范围为约束条件,关节角度单位增量最小为目标,提出一种求解关节角的“拟合-寻解”局部最优算法。以一组关节间端面夹角依次为15°,-30°,30°,-15°的四关节串联式喷管配置参数为例,基于本求解算法得到了实现喷口全方位摆动控制的各关节角的控制面。分析表明,这种四关节型式可以满足水下矢量推进的全方位摆动要求,同时具备避免关节运动范围超限的能力。该研究结果可为此类机构在大型矢量推进器上的应用提供理论依据和分析方法。

In order to meet the requirements for full-range operation of large-diameter vector nozzles for large underwater vehicles, a multi-joint serial mechanism with full range of swing capabilities is proposed. In order to address the characteristics of the redundant-degree-of-freedom of this mechanism, a "fit-and-solve" locally optimal algorithm is proposed for calculating joint angles with the range of joint rotation angles as the limit and the minimum joint angle increment as the objective. A set of parameters for a four-joint serial nozzle configuration with individual joint end face angles of 15°,-30°, 30°and-15° are used as an example, the control surface for each joint angle to achieve full range swing control of the nozzle is obtained based on this algorithm. The results of this paper can provide a theoretical basis and analysis method for the research and application of such mechanisms to large vector thrusters.