Static testing device and testing method for forward and reverse thrust of UUV channel propeller

Abstract

The invention belongs to the field of precise navigation control of autonomous underwater vehicles, and particularly relates to a static testing device and a testing method for forward and reverse thrust of a UUV channel propeller. The device comprises a rigid truss, a channel propeller, a propeller mounting frame, a swing rod mechanism, a thrust detection device and a control system, wherein therigid truss is connected with an external fixture; the propeller mounting frame is arranged below the rigid truss and is hinged with the rigid truss through the swing rod mechanism; the channel propeller is arranged in the propeller mounting frame, a thrust block is arranged at the front end, the thrust detection device is connected with the rigid truss, the detection end of the thrust detection device corresponds to the thrust block, the thrust detection device and the channel propeller are both connected with the control system, and the thrust detection device is used for detecting thrust values of the channel propeller at different rotating speeds. The forward and reverse thrust values of the channel propeller at different rotating speeds can be tested, and then the relation curve of the channel propeller control value and the forward and reverse thrust can be obtained.

Description

technical field [0001] The invention belongs to the field of precise navigation control of an autonomous underwater robot, in particular to a static test device and a test method for forward and reverse thrust of a UUV channel thruster. Background technique [0002] With the continuous development of marine information technology, higher requirements are put forward for the autonomous underwater robot (hereinafter referred to as UUV) to have precise navigation control technology, which can realize small heading deviation, small turning radius and fixed height in the low-speed mode. , Depth control performance is good, fixed-point hovering control is precise, etc. The traditional UUV mostly adopts the driving method of "main propulsion + rudder", but this is suitable for medium and high-speed navigation control. In this regard, the researchers proposed to apply the vector thruster to the motion control of UUV, but the cost of the vector thruster is relatively high. The amoun...

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Problems solved by technology

The traditional UUV mostly adopts the driving method of "main propulsion + rudder", but this is suitable for medium and high-speed navigation control. In this regard, the researchers proposed to apply the vector thruster to the motion control of UUV, but the cost of the vector thruster is relatively high. The amount of changes to the UUV system is large, which is not convenient for modular design

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