Underwater vehicle vector propelling device adopting shaftless rim propeller

Abstract

The invention discloses an underwater vehicle vector propelling device adopting a shaftless rim propeller. Comprising a shaftless rim type propeller, a shell, a vector rotating mechanism and a base mechanism, the shaftless rim type propeller is used for direct vector propulsion of the underwater vehicle and installed at a tail port of the shell, and the base mechanism is used for fixing the vector rotating mechanism of the underwater vehicle and installed at a head port of the shell. The vector rotating mechanism is used for vector rotation of the shaftless rim type propeller and is hinged between the shaftless rim type propeller and the base mechanism. The shaftless rim thruster is applied to the vector propulsion device of the underwater vehicle, under the condition that an original vector propulsion device gets rid of a tail vane, the propulsion efficiency of the underwater vehicle is effectively improved, the navigation noise of the vehicle is reduced, and compared with a traditional vector propulsion device, the shaftless rim thruster has the advantages that the propulsion efficiency is improved; the device has the advantages of high efficiency, small occupied cabin space, low noise and small vibration.

Description

Technical Field

[0001] The present invention relates to a propulsion device suitable for an underwater vehicle, and in particular to a vector propulsion device for an underwater vehicle using a shaftless rim propeller. Background Art

[0002] With the continuous deepening of ocean exploration, countries around the world have increased their research and development efforts on autonomous underwater vehicles (AUVs) year by year. In order to more efficiently complete the target tasks under complex working conditions and to avoid danger more timely, high maneuverability has become one of the main development directions of AUV equipment. Vector propulsion technology, namely thrust steering technology, allows the propulsion system to not only provide forward thrust in the forward and backward directions, but also provide force and torque in the pitch, yaw and other directions of the navigation body to partially replace the steering force generated by the rudder to control the direction. This technology can significantly improve the maneuverability and flexibility of underwater vehicles, enabling them to adjust their attitude and heading faster and more accurately in complex and changeable underwater environments. The research on vector-propelled underwater vehicles is of far-reaching significance. Autonomous underwater vehicles that use vector propulsion devices get rid of the use of tail rudders, avoiding the problem that the tail rudder has no obvious effect on steering at low speeds and too obvious steering effect at high speeds, while avoiding the disadvantage of the tail rudder destroying the hydrodynamic shape of the drone.

[0003] Most of the current AUV vector propulsion equipment uses traditional propeller thrusters. Some use a crank rocker mechanism with two push rods as the prime mover to achieve thrust vector control and use a traditional propeller propulsion motor as the main propeller. Some use two steering gears as the prime mover to achieve vector propulsion and the main propeller motor is an underwater vehicle with a traditional propeller thruster. The ducted thrusters used in small quantities are mainly composed of a propeller impeller and a duct for controlling water flow. The duct is usually an annular tube with a very small gap between its inner wall and the tip of the blade to reduce tip losses. Depending on whether the duct rotates or not, ducted thrusters can be divided into fixed and rotating types.

[0004] However, the propeller propulsion method of the traditional propeller-type propeller widely used in the prior art causes a velocity component in the wake perpendicular to the propulsion direction due to the rotational motion, and part of the energy consumption in the flow field cannot generate thrust, resulting in relatively low propulsion efficiency. It also has the disadvantages of large size and weight, large noise and vibration. The gap between the duct and the propeller of the duct-type propeller needs to be precisely controlled to reduce blade tip loss and improve efficiency. However, this precise control increases the difficulty and cost of maintenance. It also has the disadvantages of large weight, long axial length, and cannot be placed very close to the bow or stern of the ship. Summary of the invention

[0005] Based on the problems raised in the background technology, the present invention proposes an underwater vehicle vector propulsion device using a shaftless rim thruster, which can improve the propulsion efficiency of the underwater vehicle, reduce the use space of the cabin, and reduce noise and vibration. An angle sensor is installed on the thruster, and the two push rods are controlled by a fuzzy PID algorithm. The overall system has the characteristics of strong robustness, high control accuracy, simple structure and high reliability.

[0006] Compared with traditional propeller thrusters, shaftless rim thrusters have the advantages of high efficiency, less cabin space, low noise and low vibration; and compared with existing ducted thrusters, they have the advantages of light weight, short axial length, and can be placed closer to the bow or stern. They are highly integrated and can be produced in modular form, so they can be simply and directly replaced or installed without entering the dock. Due to the widespread use of water-lubricated composite bearings and the fact that shaftless rim thrusters are completely immersed in seawater, the propulsion system no longer requires shaft seals, independent cooling systems, and oil-filled gearbox housings.

[0007] Applying shaftless rim thrusters to vector propulsion devices of underwater vehicles can effectively improve the propulsion efficiency of underwater vehicles and reduce the navigation noise of the vehicle while getting rid of the tail rudder of the original vector propulsion device. It can also facilitate the maintenance and replacement of parts of the vehicle, reduce the space occupied by the overall cabin of the vehicle, reduce costs, and increase the equipment carried by the underwater vehicle. It has strong advantages for underwater operations in various fields.

[0008] The specific technical solution of the present invention is:

[0009] It includes a shaftless rim-type propeller, a housing, a vector rotation mechanism and a base mechanism;

[0010] The shaftless rim-type propeller is used for direct propulsion of the underwater vehicle and is installed at the tail port of the shell;

[0011] The base mechanism is used to fix the vector rotation mechanism of the underwater vehicle and is installed at the head port of the shell;

[0012] The vector rotation mechanism is used for vector rotation of the shaftless rim type propeller and is hinged between the shaftless rim type propeller and the base mechanism.

[0013] The base mechanism includes a push rod base, a base and a support plate, the support plate is fixed to the front end of the shell, the head of the base is fixed to the rear end surface of the support plate, a strip groove along the deflection direction is opened on the tail of the base, and a protrusion block is set on the head of the push rod base, and the protrusion block is embedded in the strip groove.

[0014] The vector rotation mechanism comprises a vector deflection assembly and a vector pitch assembly, and the vector deflection assembly and the vector pitch assembly are both connected between the base mechanism and the shaftless rim-type propeller;

[0015] The vector deflection assembly is connected between the base mechanism and the left and right sides of the shaftless rim-type thruster, and the vector deflection assembly includes a composite hinge structure, a yaw push rod, a yaw push cylinder, a yaw short connecting rod, a center connecting rod, a connecting rod and a support rod. The front end of the support rod and the cylinder body of the yaw push cylinder are fixed to the support plate of the base mechanism and arranged at intervals. The cylinder rod of the yaw push cylinder is connected to the front end of the yaw push rod, and the rear end of the yaw push rod is hinged to one side of the front end face of the shaftless rim-type thruster through the composite hinge structure. The middle part of the yaw push rod is hinged to one end of the center connecting rod through the yaw short connecting rod, and the other end of the center connecting rod is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the other side of the front end face of the shaftless rim-type thruster through the composite hinge structure, and the middle part of the center connecting rod is hinged to the rear end of the support rod.

[0016] The vector pitch assembly is connected between the base mechanism and the upper side or the lower side of the shaftless rim-type thruster. The vector pitch assembly includes a rotating hinge, a pitch short link, a pitch push rod and a pitch push cylinder. The pitch push cylinder is fixedly mounted on the base mechanism. The cylinder rod of the pitch push cylinder is fixedly connected to one end of the pitch push rod, the other end of the pitch push rod is fixedly connected to one end of the pitch short link, the other end of the pitch short link is connected to the rotating hinge through a hinge axis along the deflection direction, and the rotating hinge is fixedly mounted on the front end surface of the shaftless rim-type thruster.

[0017] The cylinder rod, yaw push rod, connecting rod and support rod of the yaw push cylinder are arranged along the front and rear direction of the underwater vehicle, and the central connecting rod is arranged along the deflection direction of the underwater vehicle;

[0018] The cylinder rod, the pitch push rod and the pitch short connecting rod of the pitch cylinder are coaxially arranged along the front-rear direction of the underwater vehicle.

[0019] The composite hinge structure comprises a hinge seat and a composite hinge;

[0020] The hinge seat is fixedly installed on the front end surface of the shaftless rim type thruster, one end of the composite hinge is hinged to the hinge seat through a hinge axis along the deflection direction, and the other end of the composite hinge is connected to the connecting rod through a hinge axis along the pitch direction.

[0021] The underwater vehicle vector propulsion device also includes an angle sensor, which is installed on the front end surface of the shaftless rim-type propeller and is used to detect the posture angle of the shaftless rim-type propeller.

[0022] The underwater vehicle vector propulsion device further includes a control module, which is mounted at the front of the base mechanism along the front-rear direction of the underwater vehicle;

[0023] The shaftless propeller, the angle sensor, the pitch thrust cylinder, the yaw thrust cylinder and the control module are electrically connected.

[0024] The control module includes an AUV controller, a PID controller and a fuzzy controller. The output end of the angle sensor is respectively connected to the input end of the fuzzy controller and the input end of the PID controller, the output end of the PID controller is connected to the input end of the AUV controller, and the output end of the AUV controller is respectively connected to the input end of the angle sensor, the input end of the pitch thrust cylinder and the input end of the yaw thrust cylinder.

[0025] The beneficial effects of the present invention are:

[0026] Compared with other traditional shaft propeller structures, the device of the present invention uses a shaftless rim propeller, which improves the propulsion efficiency of the underwater drone, reduces the space used for the cabin, reduces noise and vibration, has high integration, can be produced in a modular manner, and can be replaced or installed simply and directly.

[0027] The mechanical structure of two push rods, several rods and composite hinges is used to realize the vector propulsion of the thruster. Compared with the existing shaftless vector propulsion structure, one push rod is reduced, and the fuzzy PID control method is used to improve the overall control accuracy. The overall structure achieves the goal of removing the tail rudder structure, avoiding the inefficiency of the tail rudder at low speed of the vehicle, and avoiding the hydrodynamic damage of the tail rudder to the overall vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the present invention having a housing;

[0029] Figure 2 is a first schematic diagram of the present invention without a housing;

[0030] Figure 3 is a second schematic diagram of the present invention without the housing;

[0031] Figure 4 is an enlarged view of the composite hinge structure of the present invention;

[0032] Figure 5 is an enlarged view of the yaw short connecting rod of the present invention;

[0033] Figure 6 is a posture diagram of the yaw push rod when the present invention is without a housing and is fully extended;

[0034] Figure 7 is a posture diagram of the yaw push rod when the present invention has a housing and is fully extended;

[0035] Figure 8 This is a posture diagram of the yaw push rod when the present invention is without a housing and is fully retracted;

[0036] Fig. 9 This is a posture diagram of the yaw push rod when the present invention has a housing and is fully retracted;

[0037] Fig.10 This is a posture diagram of the pitch push rod when the present invention is without a housing and is fully retracted;

[0038] Fig.11 This is a posture diagram of the pitch push rod when the present invention has a housing and is fully retracted;

[0039] Fig.12 This is a posture diagram of the pitch push rod when the present invention is without a housing and is fully extended;

[0040] Fig.13 is a posture diagram of the pitch push rod when the present invention has a housing and is fully extended;

[0041] Fig.14 It is the principle diagram of the control algorithm of the present invention.

[0042] In the figure: 1. shaftless rim-type thruster, 2. casing, 3. control module, 4. composite hinge seat, 5. composite hinge, 6. connecting rod, 7. center connecting rod, 8. pitch push cylinder, 9. support rod, 10. push rod base, 11. base, 12. yaw push cylinder, 13. support plate, 14. yaw push rod, 15. yaw short connecting rod, 16. pitch push rod, 17. pitch short connecting rod, 18. rotating hinge, 19. angle sensor. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] like Figure 1 As shown, the underwater vehicle vector propulsion device is installed in the autonomous underwater vehicle, and the underwater vehicle vector propulsion device includes a shaftless rim type propeller 1, a shell 2, a vector rotation mechanism and a base mechanism; the shaftless rim type propeller 1 is used for direct vector propulsion of the autonomous underwater vehicle, and is installed at the tail open port of the shell 2; the base mechanism is used for fixing the vector rotation mechanism of the autonomous underwater vehicle, and is installed at the head open port of the shell 2; the vector rotation mechanism is used for vector rotation of the shaftless rim type propeller 1 and is hinged between the shaftless rim type propeller 1 and the base mechanism.

[0045] like Figure 2 and Figure 3As shown, the base mechanism includes a push rod base 10, a base 11 and a support plate 13. The support plate 13 is fixed to the front end of the shell 2 by bolts. A hole groove for water flow is provided on the support plate 13. The head of the base 11 is fixed to the rear end surface of the support plate 13. A strip groove along the deflection direction is provided on the tail of the base 11. A protrusion is provided on the head of the push rod base 10, and the protrusion is embedded in the strip groove, so that the push rod base 10 and the base 11 are slidably connected, so that when the underwater vehicle vector propulsion device rotates along the deflection direction, the vector pitch assembly is always perpendicular to the shaftless rim thruster 1. The vector rotation mechanism includes a vector deflection assembly and a vector pitch assembly, both of which are connected between the base mechanism and the shaftless rim-type thruster 1; the vector deflection assembly is connected between the support plate 13 of the base mechanism and the left and right sides of the shaftless rim-type thruster 1, the vector deflection assembly includes a composite hinge structure, a yaw push rod 14, a yaw push cylinder 12, a yaw short connecting rod 15, a central connecting rod 7 and a connecting rod 6 and a support rod 9, the front end of the support rod 9 and the cylinder body of the yaw push cylinder 12 are fixed on the support plate 13 of the base mechanism and arranged at intervals, the cylinder rod of the yaw push cylinder 12 and the front end of the yaw push rod 14 are fixedly connected, the rear end of the yaw push rod 14 is hinged to one side of the front end face of the shaftless rim-type thruster 1 through the composite hinge structure, and the middle part of the yaw push rod 14 is connected to the yaw short connecting rod 15 and the central connecting rod One end of the rod 7 is hinged, and the other end of the central connecting rod 7 is hinged to the other side of the front end surface of the shaftless rim type thruster 1 through a composite hinge structure, and the middle part of the central connecting rod 7 is hinged to the rear end of the support rod 9; the vector pitch assembly is connected between the support plate 13 of the base mechanism and the upper side or the lower side of the shaftless rim type thruster 1, and the vector pitch assembly includes a rotating hinge 18, a pitch short connecting rod 17, a pitch push rod 16 and a pitch push cylinder 8, and the pitch push cylinder 8 is fixedly mounted on the push rod base 10 of the base mechanism, the cylinder rod of the pitch push cylinder 8 is fixedly connected to one end of the pitch push rod 16, and the other end of the pitch push rod 16 is fixedly connected to one end of the pitch short connecting rod 17, and the other end of the pitch short connecting rod 17 is connected to the rotating hinge 18 through a hinge axis along the deflection direction, and the rotating hinge 18 is fixedly mounted on the front end surface of the shaftless rim type thruster 1.

[0046] The cylinder rod of the yaw cylinder 12, the yaw push rod 14, the connecting rod 6 and the supporting rod 9 are all arranged along the front-rear direction of the underwater vehicle, and the central connecting rod 7 is arranged along the left-right deflection direction of the underwater vehicle. The cylinder rod of the pitch cylinder 8, the pitch push rod 16 and the pitch short connecting rod 17 are coaxially arranged along the front-rear direction of the underwater vehicle.

[0047] like Figure 4 As shown, the composite hinge structure includes a hinge seat 4 and a composite hinge 5. Figure 5 is an enlarged view of the yaw short link 15;

[0048] The hinge seat 4 is fixedly mounted on the front end face of the shaftless rim-type thruster 1, one end of the composite hinge 5 is hinged to the hinge seat 4 via a hinge axis along the deflection direction, and the other end of the composite hinge 5 is connected to the connecting rod 6 via a hinge axis along the pitch direction, so that the composite hinge 5 and the connecting rod 6 can rotate relative to each other along the deflection direction.

[0049] The underwater vehicle vector propulsion device further includes an angle sensor 19 , which is mounted on the front end surface of the shaftless rim-type propeller 1 and is used to detect the posture angle of the shaftless rim-type propeller 1 .

[0050] The underwater vehicle vector propulsion device also includes a control module 3, which is used for vector rotation control, PID algorithm control and fuzzy reasoning of the shaftless rim thruster 1 and is installed at the front of the base mechanism along the front and rear direction of the underwater vehicle.

[0051] The shaftless thruster 1, the angle sensor 19, the pitch thrust cylinder 8, the yaw thrust cylinder 12 and the control module are electrically connected.

[0052] like Fig.14 As shown, the control module 3 includes an AUV controller, a PID controller and a fuzzy controller. The output end of the angle sensor 19 is connected to the input end of the fuzzy controller and the input end of the PID controller respectively. The angle sensor 19 transmits the angle to the fuzzy controller and the PID controller. The fuzzy controller transmits the three parameters kp, ki and kd to the PID controller through fuzzification, fuzzy reasoning and defuzzification operations. The PID controller performs PID calculation according to the angle transmitted by the angle sensor 19 and the parameters obtained by the fuzzy controller. The output end of the PID controller is connected to the input end of the AUV controller. The PID controller transmits the processing result to AUV controller, the AUV controller controls the underwater vehicle vector propulsion device, the output end of the AUV controller is respectively connected to the input end of the angle sensor 19, the input end of the pitch thrust cylinder 8 and the input end of the yaw thrust cylinder 11, the AUV controller transmits instructions to the pitch thrust cylinder 8 and the yaw thrust cylinder 11, so as to control the operation of the underwater vehicle vector propulsion device, the angle sensor 19 detects the angle of the shaftless rim-type thruster 1 in real time, and is convenient for further angle adjustment; the AUV controller, the PID controller and the fuzzy controller are integrated together, and are respectively used for the vector rotation control of the shaftless rim-type thruster 1, the control of the PID algorithm and the fuzzy reasoning.

[0053] During the operation of the underwater vehicle vector propulsion device:

[0054] In the working state, when a target angle is given to the AUV controller, the AUV controller makes corresponding instructions after receiving the signal, and transmits the instructions to the pitch thrust cylinder 8 and the yaw thrust cylinder 12. The two thrust cylinders start to work, and the shaftless rim thruster 1 rotates and the angle changes.

[0055] At this time, the angle sensor 19 feeds back the actual angle posture of the shaftless rim thruster 1 to the AUV controller, obtains the angle error through calculation, and uses the error change rate as the input of the fuzzy controller. The fuzzy controller fuzzifies the input, then performs fuzzy reasoning, and finally defuzzifies the result of the fuzzy reasoning to output the three control parameters kp, ki and kd of the PID controller, thereby achieving adaptive tuning of the PID controller parameters, so that the overall system has strong robustness, good adaptability, high control accuracy, simple structure, good stability and high reliability.

[0056] When the target angle is stopped for the AUV controller, the PID controller feeds back the results of the adaptive adjustment of the three control parameters kp, ki and kd to the AUV control module 3. After receiving the signal, the AUV controller makes corresponding instructions and transmits the instructions to the pitch thrust cylinder 8 and the yaw thrust cylinder 12. The two thrust cylinders make corresponding changes. At this time, the rotation of the shaftless rim thruster 1 makes corresponding changes, and the angle changes accordingly.

[0057] Control left and right yaw:

[0058] like Figure 6 and Figure 7 As shown, when the yaw push rod 14 is extended, since the yaw push rod 14 and the shaftless rim type thruster 1 are connected by a hinge, the shaftless rim type thruster 1 is driven to rotate. Since the connecting rod 6 is hinged to the shaftless rim type thruster 1 and the connecting rod 6 is connected to the center connecting rod 7, the extension of the yaw push rod 14 and the rotation of the shaftless rim type thruster 1 generate the linkage of the connecting rod 6, so that the connecting rod 6 retracts and the center connecting rod 7 rotates around the hinge at the midpoint. At this time, the yaw short connecting rod 15 connecting the yaw push rod 14 and the center connecting rod 7 makes up for the distance difference generated when the center connecting rod 7 rotates, so that the yaw push rod 14 keeps extending in a straight line, thereby realizing the left yaw of the underwater vehicle vector propulsion device.

[0059] like Figure 8 and Fig. 9 As shown, when the yaw push rod 14 retracts, since the yaw push rod 14 and the shaftless rim type thruster 1 are connected by a hinge, the shaftless rim type thruster 1 is pulled to rotate. Since the connecting rod 6 is hinged to the shaftless rim type thruster 1 and the connecting rod 6 is connected to the center connecting rod 7, the retraction of the yaw push rod 14 and the rotation of the shaftless rim type thruster 1 generate a linkage of the connecting rod 6, so that the connecting rod 6 is extended and the center connecting rod 7 rotates around the hinge at the midpoint. At this time, the yaw short connecting rod 15 connecting the yaw push rod 14 and the center connecting rod 7 makes up for the distance difference generated when the center connecting rod 7 rotates, so that the yaw push rod 14 keeps retracting in a straight line, thereby realizing the right yaw of the underwater vehicle vector propulsion device.

[0060] Controlled up and down snorkeling:

[0061] like Fig.12 and Fig.13 As shown, when the pitch push rod 16 is extended, the pitch push rod 16 pushes the pitch short link 17 connected thereto. Since the pitch short link 17 is connected to the hinge on which the shaftless rim-type thruster 1 is controlled, the shaftless rim-type thruster 1 is pushed. Due to the existence of the composite hinge on the horizontal center line, the shaftless rim-type thruster 1 rotates around the horizontal center line at this time, realizing the downward rotation of the shaftless rim-type thruster 1, so that the vector propulsion device of the underwater vehicle dives to the right yaw.

[0062] like Fig.10 and Fig.11 As shown, when the pitch push rod 16 retracts, the pitch push rod 16 pushes the pitch short link 17 connected to it. Since the pitch short link 17 is connected to the hinge on the shaftless rim-type thruster 1, the shaftless rim-type thruster 1 is pulled. Due to the existence of the composite hinge on the horizontal center line, the shaftless rim-type thruster 1 rotates around the horizontal center line at this time, realizing the upward rotation of the shaftless rim-type thruster 1, so that the underwater vehicle vector propulsion device yaws to the right and floats.

[0063] Compared with the traditional propeller-type underwater vehicle propulsion mechanism, the device of the present invention adopts a shaftless rim-type propeller 1, which achieves the advantages of improving efficiency, reducing cabin space, reducing noise and vibration; and compared with the existing duct-type propeller, it is light in weight and short in axial length. In addition, due to the high integration of the shaftless rim-type propeller 1, it can be produced in a modular way and can be replaced or installed simply and directly. The present invention uses a pitch push cylinder 8 and a yaw push cylinder 12, and the two push cylinders respectively control the shaftless rim-type propeller 1 to realize the left and right yaw and up and down snorkeling of the underwater drone. Compared with the existing underwater drone vector propulsion mechanism based on the shaftless propeller using three push cylinders, one push cylinder is reduced, which not only reduces the cost but also reduces the complexity of control. The tail rudder structure is removed from the entire propulsion part. As an important component of a vehicle (such as a ship, a submarine, an underwater vehicle, etc.), the tail rudder provides fluid power and torque to control the direction of motion of the vehicle, and can realize the vector maneuvering of the underwater vehicle. However, the tail rudder has certain defects, mainly in two aspects. The first point is the damage of the tail rudder to the overall hydrodynamic shape of the craft: the installation position and shape design of the tail rudder will change the original smooth streamlined shape of the craft, especially in the tail area. This change may increase the resistance during navigation and affect the speed and efficiency of the craft. At the same time, the existence of the tail rudder will interfere with the flow field distribution around the craft, especially in the area near the tail rudder. The turbulence of the flow field may cause the craft to be subjected to additional lift and resistance, and may even produce unstable flow phenomena such as vortices. The connection method and structural strength between the tail rudder and the hull of the craft will also affect the overall hydrodynamic performance. If the connection is not firm or the structural strength is insufficient, the rudder fin may vibrate or loosen during navigation, further damaging the hydrodynamic shape of the craft. The second point is that the efficiency of the tail rudder for changing the heading at low speed is very low. When the craft is sailing at low speed, the water flow force on the craft is relatively small. As a key component for controlling the direction of navigation, the efficiency of the tail rudder depends largely on these external forces. When the wind or water flow force is insufficient, the deflection force generated by the tail rudder will also decrease accordingly, resulting in reduced rudder efficiency. This structure enables the aircraft to achieve the goal of removing the tail rudder, so that the overall hydrodynamic shape of the aircraft maintains the optimal effect, and at the same time achieves the vector propulsion goal of the aircraft, so that the aircraft as a whole has a higher navigation efficiency regardless of whether it is in a low-speed or high-speed navigation state. The fuzzy PID control method is adopted, and the actual angle is fed back in real time through the angle sensor 19 on the shaftless rim-type propeller 1. Using this fuzzy PID control method, the overall system has strong robustness, good adaptability, high control accuracy, simple structure, good stability and high reliability.

Claims

1. A vector propulsion device for an underwater vehicle using a shaftless rim propeller, characterized in that: It comprises a shaftless rim-type propeller (1), a housing (2), a vector rotation mechanism and a base mechanism; The shaftless rim-type propeller (1) is used for direct propulsion of an underwater vehicle and is installed at the rear port of the housing (2); The base mechanism is used to fix the vector rotation mechanism of the underwater vehicle and is installed at the head port of the housing (2); The vector rotation mechanism is used for vector rotation of the shaftless rim-type propeller (1) and is hinged between the shaftless rim-type propeller (1) and the base mechanism.

2. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 1, characterized in that: The base mechanism comprises a push rod base (10), a base (11) and a support plate (13); the support plate (13) is fixed to the front end of the housing (2); the head of the base (11) is fixed to the rear end surface of the support plate (13); a strip groove along the deflection direction is provided on the tail of the base (11); a protrusion is provided on the head of the push rod base (10), and the protrusion is embedded in the strip groove.

3. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 1, characterized in that: The vector rotation mechanism comprises a vector deflection component and a vector pitch component, and the vector deflection component and the vector pitch component are both connected between the base mechanism and the shaftless rim-type propeller (1); The vector deflection assembly is connected between the base mechanism and the left and right sides of the shaftless rim-type thruster (1), and the vector deflection assembly comprises a composite hinge structure, a yaw push rod (14), a yaw push cylinder (12), a yaw short connecting rod (15), a central connecting rod (7), a connecting rod (6) and a support rod (9), the front end of the support rod (9) and the cylinder body of the yaw push cylinder (12) are fixed on the support plate (13) of the base mechanism and arranged at intervals, the cylinder rod of the yaw push cylinder (12) and the yaw push rod (14) is connected to the front end, the rear end of the yaw push rod (14) is hinged to one side of the front end face of the shaftless rim type thruster (1) through a composite hinge structure, the middle part of the yaw push rod (14) is hinged to one end of the center link (7) through a yaw short link (15), the other end of the center link (7) is hinged to one end of the link (6), the other end of the link (6) is hinged to the other side of the front end face of the shaftless rim type thruster (1) through a composite hinge structure, and the middle part of the center link (7) is hinged to the rear end of the support rod (9); The vector pitch assembly is connected between the base mechanism and the upper side or the lower side of the shaftless rim-type thruster (1), and comprises a rotating hinge (18), a pitch short connecting rod (17), a pitch push rod (16) and a pitch push cylinder (8); the pitch push cylinder (8) is fixedly mounted on the base mechanism; the cylinder rod of the pitch push cylinder (8) is fixedly connected to one end of the pitch push rod (16); the other end of the pitch push rod (16) is fixedly connected to one end of the pitch short connecting rod (17); the other end of the pitch short connecting rod (17) is connected to the rotating hinge (18) via a hinge axis along the deflection direction; and the rotating hinge (18) is fixedly mounted on the front end surface of the shaftless rim-type thruster (1).

4. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 3, characterized in that: The cylinder rod, yaw push rod (14), connecting rod (6) and supporting rod (9) of the yaw push cylinder (12) are arranged along the front-rear direction of the underwater vehicle, and the central connecting rod (7) is arranged along the deflection direction of the underwater vehicle; the cylinder rod, pitch push rod (16) and pitch short connecting rod (17) of the pitch push cylinder (8) are coaxially arranged along the front-rear direction of the underwater vehicle.

5. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 3, characterized in that: The composite hinge structure comprises a hinge seat (4) and a composite hinge (5); the hinge seat (4) is fixedly mounted on the front end surface of the shaftless rim-type thruster (1); one end of the composite hinge (5) is hinged to the hinge seat (4) via a hinge axis along the deflection direction; and the other end of the composite hinge (5) is connected to a connecting rod (6) via a hinge axis along the pitch direction.

6. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 3, characterized in that: The underwater vehicle vector propulsion device further comprises an angle sensor (19), which is mounted on the front end surface of the shaftless rim-type propeller (1) and is used to detect the posture angle of the shaftless rim-type propeller (1).

7. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 6, characterized in that: The underwater vehicle vector propulsion device further comprises a control module (3), wherein the control module (3) is mounted at the front of the base mechanism along the front-rear direction of the underwater vehicle; The shaftless propeller (1), the angle sensor (19), the pitch thrust cylinder (8), the yaw thrust cylinder (12) and the control module are electrically connected.

8. The underwater vehicle vector propulsion device using a shaftless rim propeller according to claim 7, characterized in that: The control module (3) comprises an AUV controller, a PID controller and a fuzzy controller, the output end of the angle sensor (17) is respectively connected to the input end of the fuzzy controller and the input end of the PID controller, the output end of the PID controller is connected to the input end of the AUV controller, and the output end of the AUV controller is respectively connected to the input end of the angle sensor (19), the input end of the pitch thrust cylinder (8) and the input end of the yaw thrust cylinder (12).

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