Design And Analysis Of Propulsion For Sub-mini Underwater Vehicle

In the field of UV (Underwater Vehicle), develop a special UV (Underwater Vehicle) working on the complicated environments and abominable conditions is a main direction and work in China. With the widening usages of UV, more and more requirements focus on developing a kind of civil Sub-mini UUV (Unmanned Underwater Vehicle) that should replace the people to do some danger work in the shallow water self-governed. For inhance the UUV's rapidity and maneuveringquality, we design a type of water-jet propeller for Sub-mini UUV using the planetary gear train after analyzing the existing propeller, and considering the work requirements of Sub-mini UUV propeller. The water-jet propeller combined the pump and the pipeline, reduced the appendage of UV. The thesis mainly contains the water-jet propulsion's systematic design, kinematics and dynamics analysis.First of all, though advantages and disadvantages analysis for existing propeller of UUVs and ships, taking into account the using conditions of Sub-mini Underwater Vehicles, a water-jet propulsion systematic design program working by planetary gear train is put forward. Based on the structural design requirements of water-jet propulsion, used the Virtual Prototyping Technology (VPT), the water-jet propeller's initial assembly model is build in Pro/E that is a system of 3D parametric CAD. And structural designs of the major components are analyzed.Then the mechanism analysis of the planetary gear train propulsion that is the main part of the water-jet propeller is carried out. The principle of the planetary gear propulsion is explained by means of homogeneous transformation for analysis of mechanism. The propulsion's 3D model is built in Pro/E, and the trajectory path of the points on the planetary's pitch circle is worked out with the Dynamic Simulation Module in Pro/E.After established the propeller's kinematics equation, comprehensive analysis of the kinematics properties is carried out. Then the theory solutions of canulate plunger's displacement, speed and acceleration are obtained. The hydrodynamics characteristic equation of the water-jet propeller is built based on momentum theory, equation of continuity and energy equation. In an ideal state, work out the water-jet propeller's thrust is sufficient to overcome the resistance of UUV. And the main structure parameters are obtained. On base of the reasonable simplification, the water-jet propeller's dynamical equation is set up and solved. The main components' forces and torques of the water-jet propulsion are got. It establishes foundation for following study of the vehicle's structure optimization and control.Finally, based on the VPT, simulation experiments of kinematics and dynamics for the water-jet propeller are respectively done using ADAMS that is a system of dynamic simulation. The water-jet propeller's principle of work is analyzed and verified. It provides some bases for the feasibility analysis of the water-jet propeller's design program.