Novel underwater vehicle parallel vectored thruster and attitude determination method therefor

An underwater vehicle and vector thruster technology, which is applied in the directions of ship propulsion, propulsion components, and steering and steering with propulsion components, which can solve the problems of weakened maneuverability and inability to meet the complexity and flexibility requirements of AUVs.

Inactive Publication Date: 2014-04-30
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In this context, the traditional fin-rudder control method can no longer meet the complexity and flexibility requirements of AUV's underwater movement, especially when the rudder is moving at low speed, the maneuverability of the rudder is significantly weakened, so the development of a new vector propeller device is one of the effective solutions

Method used

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  • Novel underwater vehicle parallel vectored thruster and attitude determination method therefor
  • Novel underwater vehicle parallel vectored thruster and attitude determination method therefor
  • Novel underwater vehicle parallel vectored thruster and attitude determination method therefor

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Embodiment Construction

[0026] The present invention will be further described in detail below in combination with specific embodiments.

[0027] Such as figure 1 As shown, a novel underwater vehicle parallel vector propeller structure of the present invention includes a static platform and a dynamic platform, the static platform is provided with a propeller main propulsion motor 1, and the dynamic platform is provided with a propeller transmission shafting 5, Four groups of branch chains are arranged between the static platform and the moving platform, and the four groups of branch chains include three groups of R P S active branch chain 3 and a set of SPS transmission branch chain 4, the static platform, dynamic platform and three sets of R P The S active branch chain 3 constitutes a three-degree-of-freedom parallel mechanism. The main body of the mechanism of the present invention uses the motor sleeve 2 as a static platform. Its moving parts include: three sets of R P S active branching chain...

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Abstract

The invention discloses a novel underwater vehicle parallel vectored thruster comprising a fixed platform and a moving platform. A propeller main thrust motor is disposed on the fixed platform. A propeller drive shaft system is disposed on the moving platform. The novel underwater vehicle parallel vectored thruster is characterized in that four branch sets are arranged between the fixed platform and the moving platform; the branch sets include three RPS driving branch sets and one SPS drive branch set; the fixed platform, the moving platform and the three RPS driving branch sets form a three-DOF parallel mechanism; relation between propeller rocking attitude and length of the three RPS driving branch sets is obtained by motion analysis. The required rocking angle of the axis of a propeller can be quickly achieved by controlling the length of the three RPS driving branch sets, drive force of the three RPS driving branch sets is provided by three motors jointly; each motor can provide lower power as compared to a thrust mechanism using two motors; when one motor fails, the three-DOF parallel mechanism turns into a two-DOF parallel mechanism, and reliability is high.

Description

technical field [0001] The present invention relates to an ocean exploration tool, more specifically, relates to a propulsion structure of an underwater vehicle. Background technique [0002] AUV is a kind of underwater robot. It is a cable-free underwater robot. It is customarily called an autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV). With the continuous expansion of the scope of AUV applications, designers have put forward higher requirements for AUV's underwater operation mission capability and complex environment adaptability, especially for AUV maneuverability and mobility. In this context, the traditional fin-rudder control method can no longer meet the complexity and flexibility requirements of AUV's underwater movement to a certain extent, especially when the rudder's maneuverability is significantly weakened when moving at low speed, so a new type of vector propeller is developed Devices are one of the effective solutions. The vector thruster...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H5/07B63H25/42
Inventor 张宏伟王树新
Owner TIANJIN UNIV
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