Research On Simulation Technology For Thruster Load Of Underwater Vehicles

AUV,ROV,ARV,HOV are the main tools for the exploration and use of the ocean.Underwater vehicles are important tools for mankind to explore and utilize the ocean.Underwater robots have made great progress in the detection of the depth and breadth,but due to the limitations of the cost,quantity and energy supply of underwater robots,the search capability and working ability of underwater robots are limited.In order to solve the problem of long period,high cost and high risk coefficient in the development of underwater robot,this thesis has carried on the research on the underwater vehicle propeller load simulation technology,including the following contents:Load simulation method,load torque calculation,hardware and software platform for the formation and loading experiments.When the robot sails in the ocean,the propeller drives the propeller to move forward,and the water flow also generates the load torque to the propulsion system,which hinders the robot from sailing.In order to simulate this ocean scene,after studying the working principle of the dynamometer,a servo-loaded motor is connected with the end of the propeller through the coupling,the torque of the servo motor is added to simulate the ocean environmental resistance.In this way,on-board simulation of the underwater robot propeller load can be achieved.The magnitude and variation of the load torque are critical to the propeller load simulation system.Firstly,the characteristics of each part of the underwater vehicle propulsion system are analyzed,and the open water characteristic curve of the propeller is drawn with the data of a certain navigation data.And the fitting and analysis are carried out,and the specific specifications of autonomous underwater.The relationship between the torque coefficient and the speed ratio of the robot is calculated and the load simulation torque value is calculated according to the simulation environment computer.In this thesis,not only the propeller load simulation technology research is done,on the basis of the whole physical simulation platform is also set up.Torque loading of the robot thruster is achieved by connecting the test platform to the lower end of the actuator.The work of this part mainly includes:the development of test platform monitoring interface,the compilation of PLC control program of servo control motor,the communication between PC and test platform.Based on the previous work,a simulating experiment on the propeller load of the robot was carried out on the land.The countercurrent flow vehicle experiment was used to simulate the initial stage of the robot just entering the ocean.The acceleration experiment was used to simulate the acceleration of the robot in the ocean.The endurance test is used to simulate the state of the robot as it continues to sail in the ocean.Through the loading experiments of three kinds of methods,the whole physical realization of the simulation technology of underwater robot propeller load is realized.