【作者】 袁野；

【导师】 侯恕萍； 刘汉强；

【作者基本信息】 哈尔滨工程大学 ， 机械（专业学位）， 2025， 硕士

【摘要】 近年来,我国深入推进海洋强国战略实施,海洋科技创新体系建设取得显著成效。在此战略驱动下,作为海洋资源勘探与国防安全领域的重要技术装备,高性能水下航行器的研发工作呈现出迫切的技术需求。推进系统作为水下装备的核心功能模块,其效能优化研究始终是国际海洋工程领域的技术制高点。目前的推进技术领域,主要有两种构型:多推进器驱动以及螺旋桨加舵。多推进器驱动会使得航行器阻力显著增加,传统推进器配合舵控制,在低速巡航的工况下面临姿态调整灵敏度不足的问题。为水下航行器设计一种基于3RRR球面并联机构的矢量推进器,使水下航行器可以在水下进行多自由度航行。本文将根据功能需求确定矢量推进器的设计指标,针对水下无人航行器进行阻力分析,在确定矢量推进器的推力需求后,进行矢量推进器的总体结构设计,并运用ANSYS workbench对关键零件进行有限元分析。为解决球面并联机构求解的难题,利用投影法与几何法确定并联机构的活动平台的转换矩阵,确定矢量推进器的数学模型,利用ADAMS和MATLAB分析上述研究。设计一种利用导流罩反转平衡螺旋桨推进时产生滚转力矩的方案。由于本文所设计的换向机构在结构上的特点,具有绕推进器轴线转动的自由度,设计导流罩与螺旋桨同轴反向旋转以平衡水下航行器的推进器在推进过程中引起的滚转力矩,并使用STAR-CCM+确定导流罩反转的适合速度。针对系列化的水下航行器进行相匹配的矢量推进器的设计,为基于矢量推进的系列化水下航行器为提供理论支撑与工程实践。对所设计的矢量推进器进行加工与试验,对控制系统进行设计,并编写运动控制程序。搭建矢量推进器水下测试平台,对偏转情况进行测试、对密封舱进行打压试验,保证在进行水下测试时密封性能良好。计算矢量推进器的重心与浮心的位置,以保证矢量推进器在水下的平衡状态,在水池中进行矢量推进器的偏转性能测试、推力测试,测定推进器的工作效率。更多还原

【Abstract】 In recent years,China has vigorously advanced the implementation of its maritime power strategy,achieving remarkable progress in the construction of marine science and technology innovation systems.Driven by this strategic initiative,the development of high-performance underwater vehicles,as critical technical equipment for marine resource exploration and national defense security,has demonstrated an urgent demand for technological innovation.The propulsion system,serving as the core functional module of underwater vehicles,remains a focal point for efficiency optimization in international marine engineering.Current propulsion technologies predominantly adopt two configurations:multi-thruster systems and propeller-rudder combinations.While multi-thruster systems significantly increase hydrodynamic resistance,conventional propeller-rudder configurations face challenges in attitude adjustment sensitivity under low-speed cruising conditions.This study proposes a vectored thruster based on a 3RRR spherical parallel mechanism to enable multi-degree-of-freedom navigation for underwater vehicles.The research begins by defining design specifications for the vectored thruster according to functional requirements.A hydrodynamic resistance analysis is conducted for unmanned underwater vehicles(UUVs),followed by the determination of thrust requirements and the overall structural design of the thruster.Critical components are analyzed via finite element methods using ANSYS Workbench.To address the kinematic complexity of the spherical parallel mechanism,projection and geometric methods are employed to establish the transformation matrix of the moving platform,thereby formulating the mathematical model of the thruster.Dynamic simulations are performed using ADAMS and MATLAB.A novel solution is designed to counteract the rolling torque generated during propulsion by integrating a ducted propeller system with reverse rotation capabilities.Leveraging the structural characteristics of the steering mechanism,which permits rotational freedom about the thruster axis,the duct and propeller are configured for coaxial counter-rotation to balance rolling moments.STAR-CCM+simulations are utilized to determine the optimal reverse rotation speed.Furthermore,a series of vectored thrusters are developed for diverse UUV platforms,providing theoretical and practical foundations for vectored propulsion-enabled underwater vehicle families.Prototypes of the vectored thruster are manufactured and experimentally validated.A dedicated control system is developed,accompanied by motion control algorithms.An underwater test platform is established to evaluate deflection performance,conduct pressure tests on sealed compartments,and verify waterproof integrity.The positions of the thruster’s center of gravity and buoyancy are calculated to ensure underwater equilibrium.Pool tests are carried out to measure deflection accuracy,thrust output,and operational efficiency.更多还原