Research On The System Of Cycloidal Propeller And Its Application

With the development of ship industry in our country,the performance of the propeller needs to become more excellent.The screw propeller has big limitation,while the cycloial propeller could rapidly change the magnitude and direction of the thrust in the horizontal range of 360 0 without changing the speed of rotator,which lets the cycloidal propeller own excellent flexibility and handing performance.However there are few researches on the cycloial propeller in China.As people pay more and more atterntion to unmanned control,unmanned surface vessel must receive great attention in the future.This paper systematically discusses the structure,the control system,the maneuvering model and the control algorithm of cycloid propeller and its unmanned surface vessel.Firstly,this paper discusses the research significance,basic concept and research status of the cycloidal propeller.Also,the prospect and significance of the unmanned surface vessel which equiped with the cycloidal propeller are analyzed.Then the mathematical model of the rule of the blade swing is established and the method of hydrodynamic calculation is discussed.And the influence factors of the cycloidal propeller's hydropower are systematically analyzed.Secondly,this paper optimizes the six-bar mechanism and the blade structure of the cycloidal propeller.The mathematical model of six-bar mechanism is established.The size of the six-bar mechanism is optimized by using the patternsearch toolbox and the principle of variance minimization.The optimization methods are proven effective by comparing the main thrust and the side thrust after optimization with the ones without optimization.Also,the optimization methods of the blade structure is discussed.Thirdly,this paper develops the control system of the cycloidal propeller.The hardware of the control system is selected according to the control demand.On this basis,ship-borne control system and shore-based control system are developed.Shipborne control system is Qt program based on the embedded Linux and the ship-borne system is develop with C#language.This system can achieve remote control,GPS positioning,real-time display of operating status and other basic functions.At last,this paper studies the unmanned surface vessel which equiped with the cycloidal propeller.The structure of the unmanned surface vessel is designed,the difference between the unmanned surface vessel and the conventional ship is that the unmanned surface vessel has a fixed rudder and two cycloidal propellers.The maneuvering model and trajectory tracking control algorithm of the unmanned surface vessel are established.The algorithm includes the PID control algorithm,the fuzzy control algorithm and the related control strategy.The dynamic process of ship motion under these two control algorithms is simulated by Matlab.Based on the simulation results,the advantages and disadvantages of the two control algorithms are analyzed.This paper systematically discusses the structure,the control system,the maneuvering model and the control algorithm of cycloid propeller and its unmanned surface vessel.This paper provide the theoretical basis for the follow-up researchers.