Structural Design And Research On Thrust Allocation Strategy Of Small Sightseeing Submarine

In order to promote the development of underwater tourism in China,satisfy people’s curiosity about the mysterious underwater beauty,and provide a carrier for underwater exploration,this paper developed a small sightseeing submersible.Combined with the working characteristics of the sightseeing submersible,the overall configuration of the submersible is determined,and some structures are designed in detail and checked by simulation to ensure that the submersible can meet the use requirements;Based on the target of lightweight,the skeleton structure is optimized to improve the payload of the submersible;In order to improve the accuracy of the thrust output and the efficiency of the propulsion system,the hydrodynamic performance analysis and the thrust distribution strategy of the propulsion system are carried out.Based on the characteristics of underwater sightseeing,this paper carries out the overall design of the submersible,determines the main structure and design parameters of each part of the submersible,and gives a detailed design description of some structures according to the theoretical method.The key pressure components of the sightseeing submersible,such as the pressure cabin and battery equipment cabin,are simulated and verified,and the mechanical structure is verified to meet the requirements of strength,rigidity,stability and seakeeping,so as to ensure that the indexes of the manned cabin and battery equipment cabin meet the requirements of use.In order to ensure the safety of the non pressure skeleton structure,the finite element analysis is carried out to check it.Based on the problems of the check results,some improvements are made.Because there are many low stress areas and large optimization space in the skeleton structure analysis,the CAE method based on numerical analysis is used to optimize the structure design.The results show that the weight of the optimized structure is reduced by more than 15%,the strength,maximum amplitude and other indicators meet the use requirements,and the optimization effect is obvious.The stability analysis of the underwater and water surface of the improved submersible is carried out,and the adjustment scheme of the heavy floating center is designed.The results show that the adjusted submersible meets the stability requirements of the underwater and water surface.CFD numerical simulation technology is used to analyze the influence of the fluid on the underwater operation of the submersible.The motion resistance and some hydrodynamic coefficients are determined under the conditions of direct navigation,snorkeling and lateral displacement.Based on this,the propeller selection and layout are completed.The mathematical model of propulsion system is completed based on the arrangement scheme of thruster,and the optimization model of thruster distribution is established according to the horizontal thrust distribution matrix and thrust constraint conditions of thruster.A strategy of thrust distribution optimization based on particle swarm optimization algorithm is designed,and the inertia factor in particle swarm optimization algorithm is improved,and the simulation experiment is carried out with MATLAB.Compared with the simulation results of the pseudo inverse method,the algorithm designed in this paper can meet the thrust constraints of the thruster output,avoid the problem of oversaturation,and achieve the optimal distribution of thruster thrust.Compared with the pseudo inverse method,the total energy consumption of thrust distribution is reduced by 10%.