Research On Submarine Thrust-vectoring Propulsion Device

All countries in the world are fastening their steps in studying and exploring ocean resources in the 21st century when humans throw themselves in cognizing and exploring the ocean. In order make good use of ocean resources, the submarine carrier must play its essential part in seabed detection which can load types of detectors. The carrier expand the view of humans on the ocean resources because it can get many close quarters materials, such as pictures of blue water, mineral in the seabed and so on. So every country is putting emphasis on developing high-powered submarine carrier.The condition in seabed is extraordinary hard, so the requirement to the flexibility of carrier is very high. The ideal carrier should play many types of actions, such as move forward and back, crab, pitching, halt, swerve at one point, lift and so on. But none of carriers used in real life can perform like that. From this point, the dissertation developed a thrust-vectoring propulsion device. This device can dramatically improve the flexibility of submarine carriers because its propulsion can both be changed easily in the magnitude and direction, and the whole propulsion set is relatively simple.The dissertation mainly discussed three different parts, as following:1.The mechanical structure of this set was designed and optimized. The design blue print was made based on the sketch of transmission system. The key parts were designed according to the intension qualification, and the others were made structure design. Then, airproof element was selected and all parts were modeling by three-dimension software, in which the action collision test was operated also.2.The key parts were made analysis in static, and motivation was selected. Key parts were made strength analysis and the left ones who had been just designed on structure were tested in their intention quality by the limited element method, and then optimized. After the mechanical structure design, the working condition of the set was mad analysis and the suitable motor was found.3.The set's mathematic modeling and movement test were executed. The kinematical and dynamical model of the whole set was built, and the motion experiment was made to make sure its kinematical model was correct. A carrier with three thrust-vectoring propulsion devices developed in this dissertation was modeling and made analysis to make the further dynamical control much easier.The dissertation presented a cute mathematical model for the further dynamical control design, and made a good effort in the development of submarine thrust-vectoring propulsion carrier.