Study On Cruciform Rudder System Of Sightseeing Mini-Submarine

Sightseeing Mini-Submarine is a manned submersible that can load 2-3 tourists sightsee underwater. The maneuverability and reliability of cruciform rudder system is directly related to the campaign performance of submarine. Based on the needful realization and basic requirements of the cruciform rudder system, a study on rudder driving device and emergency driving device of cruciform rudder system in Sightseeing Mini-Submarine has been completed.Cruciform rudder system includes rudder and elevator system. Its main function is to control the rotational movement of Sightseeing Mini-Submarine in the horizontal and vertical plane. The study on the cruciform rudder system has been conducted as follows:Firstly, based on the structure of rudder on the modern submarines and ships, the layout design of cruciform rudder system in the submarine has been completed, then the structure of the rudder driving device and emergency driving device has been designed. As the rudder type has been selected, the hydrodynamic characteristic of the rudder blade has been simulated numerically, and the correctness of the computational model has been confirmed according to comparing the calculated and experimental value of the NACA0021 rudder blade's hydrodynamic coefficients, the researcher has used the similar computation model to obtain the variation trends of hydrodynamic coefficients of the cruciform rudder system's rudder blade. The reasonable velocity of the backward motion has been confirmed according to the comparison of the torque of the rudderstock in forward and backward motions.Secondly, the structure design of rudder driving device and emergency driving device has been proceeded according to the values of rudder blades' hydrodynamic coefficients of the rudder system and elevator system. The function between discrete hydrodynamic load and attack angle of rudder blade has been fitted with MATLAB, and it has been taken as the input of ADAMS dynamics simulation. As the friction and contacting parameters of the every kinematic pair have been set, the peak value of contacting force between the helm and pin of piston rod and the load torque of stepping motor have been obtained through the simulation results, and the researcher has verified the rationality of selecting the motor in emergency drive system.Finally, finite element analysis of the key parts in cruciform rudder system has been conducted according to the maximum dynamic loads. The stress and deformation status of the key parts have been obtained, and the security of rudder device structure's strength and rigidity have been verified. At the same time, the volume of the connecting rod and the helm have been taken as optimized objective, the structural topology optimization on connecting rod and helm have been conducted in Optistruct module of Hyperworks,, and the structure of rudder driving device has been optimized.To sum up, the structure of rudder driving device and emergency driving device in cruciform rudder system has been studied in this dissertation, which is important for theoretical and engineering application.