Unmanned Underwater Vehicle Single Vectored Thruster System’s Design And Analysis

Unmanned underwater vehicle(UUV)currently are showing more and more broad application prospects in the field of civilian and military areas.One problem to be solved is the UUV’s steering control.There are three kinds of existing methods: The first is to use rudder to control steering;The second is to use the differential speed of multiple propellers to achieve steering;The third is the vector to achieve steering.Vector propulsion technology,also known as thrust steering technology,refers to the propeller can produce the propulsion of variable direction,UUV propulsion technology is a hot spot.But there are many shortcomings in the application and development of the vector thruster:1.Motion is not achieved decoupling.At present,there are motion coupling problems in the existed vector thrusters,and the control algorithm is complicated.2.The transmission structure is complex.At present,the mechanical transmission structure of the vector thruster is more complex and the drive chain is too long,3.Sealing and lubrication are difficult.By the restrictions of the mechanical structure,vector propeller cannot be the overall seal,and most parts will be exposed to water,easy to be corrosion,and it is difficult to lubricate.In this paper,a new type of duct vector thruster,which is based on the space fader slider mechanism and can decouple motion,is proposed as a propeller for the UUV with diameter of 324 mm or 533 mm.Its yaw angle range is ± 15 °.It has many advantages such as decoupling motion,wide yaw angle range,independent sealing of the whole machine.The research of this paper provides a powerful solution to the existing shortage of vector thrusters,and filling the gap in this area.Around the new type of duct vector thruster proposed in this paper,the following research works are carried out:Firstly,according to the shortcomings of the existing vector thruster,the performance index is designed;the overall scheme design and analysis of the vector thruster are carried out.On this basis,the whole structure design and virtual assembly are completed.Secondly,the kinematics modeling and analysis of the vector thruster model are carried out.The motion relationships between the prime mover and the final component is obtained according to the analytic method.The kinematics forward and inverse equations are established to provide a mathematical model for the control algorithm.Then,the vector thruster is carried out according to the graph theory.The kinematic parameters of each component in the process of system motion are determined and the foundation of dynamics modeling is established.Finally,the kinematic simulation analysis of the vector thruster is carried out to verify the conclusion of the kinematics analysis.Thirdly,the dynamics modeling and analysis of the vector thruster model are carried out.The Lagrangian equation is used to establish the dynamic equation of the vector manipulator.The contact force between the sphere table and the shell is analyzed,and the simulation parameters are determined.Based on the analysis results,the material of the contact surface between the platform and the shell is optimized,and the simulation results show that the design can reduce the load on the system;Through the above-mentioned design and analysis,the prototype manufacture of the vector thruster is done,and the corresponding test scheme is designed,and the performance of the system is tested.The experimental results show that the system meets the design requirements.