Underwater servo propeller

Abstract

The invention discloses an underwater servo propeller which belongs to the technical field of ocean vessels, and the underwater servo propeller comprises a controller, a hanging frame, a hydraulic motor, a propeller, a magnetorheological fluid moment coupler and a force sensor, the controller is connected with the hydraulic motor to transmit control signals, the hydraulic motor is fixed at the bottom end of the hanging frame, the propeller is connected with the hydraulic motor, the hanging frame is internally provided with the force sensor, the force sensor is connected with the controller, the output end of the hydraulic motor is provided with the magnetorheological fluid moment coupler, and the magnetorheological fluid moment coupler is connected with the propeller. By adopting the hydraulic motor, the underwater servo propeller maintains the advantages of high power and small volume of a hydraulic system; and simultaneously, as a hydraulic servo valve is omitted, rotation speed control is realized by adopting the mode that the magnetorheological fluid moment coupler is connected at the output end of the hydraulic motor in series.

Description

technical field [0001] The invention relates to a device in the technical field of ships, in particular to an underwater servo propeller. technical background [0002] ROV (Remote operated underwater vehicle) has different requirements for propellers from ships and submarines: ships and submarines generally focus on the efficiency and power of their propellers, and do not require high control performance. The propeller is only a kind of power Type open-loop actuators, while ROV has high requirements on propellers and needs good maneuverability, which requires the propellers to have good servo control capabilities. [0003] There are two main types of underwater servo propellers: [0004] A servo motor drives the propeller to form a closed-loop servo control for the propeller's rotational speed. The power of large and medium-sized ROV thrusters is relatively large. Although the technology of high-power servo motors is relatively mature, the size of the servo drive is large,...

AI Technical Summary

Problems solved by technology

In actual use, hydraulic servo valves bring a lot of trouble to debugging and maintenance work, and are expensive

After searching the literature of the existing technology, it is found that in the Chinese literature: "Shipbuilding Technology" 2005 No. 5 (No. 267), Xu Gang and others published "Modeling of variable-length cable motion of "Hailong-3500" deep-sea submersible and Simulation", the "Hailong-3500" ROV of this technology uses the hydraulic servo valve as the key component of the hydraulic servo propeller, which is cumbersome and expensive in actual use and debugging.

Moreover, it only performs servo control on the speed of the propeller. Although the speed of the propeller and the thrust have a corresponding relationship, the corresponding relationship between the speed of the propeller and the thrust of the propeller will change due to changes in the external environment.

[0006] So far, there is no report on a servo propeller that connects a magneto-rheological fluid torque coupler in series at the hydraulic motor end to achieve speed control

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