The Simulation Research On The Position Control To Machining Device Of Propeller's Static-Unblance Mass

Marine propeller is the core component of ship's power system,it has played a decisive role to the ship'overall performance on it's navigation.Conbined to the propeller's processing process,after the primary machining of the propeller,the quality of the static-unbalance mass should be tested,the quality of detection technology has a great influence on the overall performance of subsequent propellers.Therefore,it is necessary to study the detection means of static unbalance-mess;After obtaining the required mass of static-unbalance,how to eliminate the mass is the key to guarantee the performance of the whole propeller.In this paper,combined with the research status of propeller's static-unbalance mass technology and the present research situation on blade processing,a quality detection scheme of static unbalance is proposed and a propeller blade processing device is designed.This paper combines the present research status of propeller's static-unbalance mass detection technology and blade processing technology,a quality detection scheme of static-unbalance is proposed.And a propeller blade machining device is designed,the motion law of the processing device was studied.The main research contents and results are as follows:Combined with the current domestic and international rotor's static-unbalance mass research status,we designed two ways to detect the propeller's static-unbalance mass,namely,it's called weighing algorithm and pull-pressing algorithm.Meanwhile,aimed to different number of propeller blade,it has described the the detection theory of static-unbalance mass,obtained the size and the orientation of static-unbalance mass.According to the detection of static-unbalance mass that we have presented,we designed a machining device of static-unbalance mass,the main feature of the device is that it can machining the propeller symmetrically,it can minimize the bending force generated by single knife machining propeller blade.Four parallel mechanisms arranged symmetrically on the periphery of the propeller.Four parallel mechanisms are symmetrically placed around the propeller,the conversion of mechanism's work-station is drived by screw-drive and hydraulic-drive,At the same time,the coordinate system of the up-and-down platforms towards parallel robot is established on the parallel mechanism.Based on the law of Newton's mechanics and the law of parallel robots' homogeneous-coordinate-transformation,Obtained the kinematics and dynamics of the tip on the propeller processing device.To select the main parameter of driving hydraulic cylinder,to determine the basic geometric parameters of the parallel mechanism,to plan the control strategy of the parallel mechanism,then establish the simulation control model of the parallel mechanism's position pose through matlab.Finally,preset the movement track of the end effector of the processing device,to obtain process parameters such as displacement,speed,and driving force of the hydraulic drive,it's provide the prediction's reference on the subsequent practical machining and it can help to optimize the technological parameter.