Dynamic Modeling And Experimental Research Of All Deflected Propeller Vector Propulsion Device For Underwater Vehicle

The vector propulsion technology is a new underwater propulsion technology in the underwater robot field,which can improve the mobile ability of the robot very well.It is of great significance for the development of marine resources.The purpose of this paper is to overcome the disadvantages of complex structure and difficult control in the traditional multiple propeller propulsion system.The aim of this paper is to develop a vector propulsion device with the function of spatial attitude adjustment.A simple-structure and easy-control vector propulsion system is designed to realize the multiple posture motion model of the underwater vehicle,and the vector method and the separation method are used to model the dynamic modeling of thevector propulsion device.With the help of software,such as SolidWorks?MATLAB?Adams?ABAQUS and so on,less degree of freedom space vector based on single closed-loop propulsion is researched and analyzed.Firstly,the introduction of the research status of the space linkage mechanism and the vector propulsion technology of the underwater robot is briefly introduced,and a vector propulsion system is proposed.Then the position equation is obtained by the vector method,and the velocity and acceleration equations are obtained by finding the first derivative and the two derivative of the position equation.The constraint reaction force and torque are solved by separating body method.The motion and mechanical properties of the mechanism were plotted by MATLAB programming.Finally,theoretical analysis results were verified by joint simulation with Adams.Secondly,the software of ABAQUS is used to analyze the vector propulsion device by finite element analysis,analyzing the distribution of displacement and stress,in order to check whether the strength and stiffness meet the designing requirements.The vibration modal analysis of the support frame and the rotating module unit is carried out to prevent the mechanical resonance,which provides a reference for the method of analyzing the vibration of the robot.Finally,according to the theoretical analysis of the previous two chapters,the sample of the propeller propulsion device is designed and processed.And the device motor and other components are selected;the servo control system is developed.The successful assembly of the vector propulsion device and the test of the vector propulsion test,including whether the propeller can successfully realize the pitching movement and the pendulum movement test,which are used to verify the reliability and practicability of the designed device.The research in this paper has certain practical value and broad application prospects.