Research On Whole Pump Drive Control Method Of Underwater Vehicle

Because of the long-term human excessive exploitation,the land resources have faced a great crisis of gradual depletion.The 21 st century must be the century of ocean development.Underwater vehicle is an important carrier platform for ocean monitoring,deep water observation and resource survey,the research field has become an important field of international research and exploration.With the great devotion of various research resources,new types of underwater vehicles have come out successively.Our country has also made some breakthroughs in this field in recent years.However,the research of underwater vehicle under whole pump drive control is still in a relatively primary stage.Based on small underwater vehicle,this paper mainly research on the design of a full pump water jet drive system,the combination of vector propulsion and water-jet drive and structural optimization of underwater vehicles.The main contents of the study are as follows:(1)After systematic understanding of the current research status of new underwater vehicles at home and abroad,a small underwater vehicle propulsion system with a combination of water jet driving and vector propulsion is proposed.Abandon the traditional propeller propulsion mode and rudder control method,design a vectorial water jet system with relatively simple structure and stable performance,make the concealment and maneuverability of the vehicle improve.(2)Describe the interconversion method of two spatial coordinate systems of underwater vehicle in motion,establish the dynamics modeling of it,study on the equation of motion and the equation of dynamics,according to the designed propulsion method,research the vehicle’s characteristics of hydrodynamic force during the navigation and Sum up its calculation method.(3)Reference water jet propulsion ship’s power composition,combine with the characteristics of underwater vehicle,select volume pump as a power source for the designed water jet propulsion system,and analyze the hydraulic loss of the whole system,the size selection of the nozzle and the flow distribution criterion in the process of motion,provide theoretical guidance for the design of the vehicle.(4)According to the actual structure size of the underwater vehicle,use Solidworks software to build three-dimensional and two-dimensional model of robot structure,use the CFD method,use software Fluent to simulate the navigation condition of the robot in the flow field.Compare the motion resistance and hydrodynamic characteristics of different body shape,different appendage airfoil and different inlet position.The conclusion is that the navigation resistance of the robot is the least and the hydrodynamic characteristics are the best when using the more linear plan four,surface airfoil and head inlet scheme.Compare the internal and external flow state and energy utilization of three different nozzle structures,explore the improvement method of thrust utilization rate of water jet propulsion.This paper combines theoretical analysis with simulation,carry out a series of optimal designs of the structure of the underwater vehicle.The concept of combination of full pump water jet driving method and vector propulsion method provides a certain reference value for further development of underwater vehicle to the further development of concealment and flexibility.