Vehicle-mounted underwater propeller rear stator setting angle determination method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a method, device and equipment for determining a rear stator placement angle of a vehicle-mounted underwater propeller and a storage medium, and relates to the technical field of propellers. According to the scheme, the method comprises the steps that a rear stator of the underwater propeller in an ideal state serves as a rear stator to be tested, the rear stator to be tested is used for testing the propeller in an actual state, the placement angle of the test is obtained, whether the difference value between the placement angle obtained through the test and the placement angle obtained through the previous test meets a preset condition or not is judged, and if yes, the propeller is tested. And iteratively calculating the placement angle, and taking the placement angle corresponding to one of the propulsion efficiencies of the at least two propellers meeting the selection condition as the target placement angle, so that the placement angle of the vehicle-mounted underwater propeller can be determined, a rear stator structure meeting the design requirement is further obtained, and the propulsion efficiency of the vehicle-mounted underwater propeller is improved.

Description

Technical Field

[0001] The present application relates to the field of propeller technology, and in particular to a method, device, equipment and storage medium for determining a rear stator placement angle of a vehicle-mounted underwater propeller. Background Art

[0002] The underwater propeller ejects water at high speed, using the reaction force of the water flow to generate thrust, allowing the carrier to sail at a certain speed. If the rotating water flow under the action of the rotor is ejected directly, this part of the rotational kinetic energy will be completely lost. The rear stator structure is needed to eliminate the rotational motion of the liquid, convert the kinetic energy into pressure energy, and improve the propulsion efficiency.

[0003] Through a large number of series of experiments and models, an empirical map of the rear stator of a conventional thruster corresponding to the required placement angle for the optimal propulsion efficiency has been developed. The placement angle of the rear stator is obtained through the empirical map and the rear stator is manufactured. However, for vehicle-mounted underwater thrusters, due to vehicle space limitations and thrust requirements, the rotational kinetic energy of the wake is higher than that of conventional thrusters. Currently, there is no empirical map of the rear stator of a vehicle-mounted underwater thruster, which makes it impossible to determine the placement angle of the vehicle-mounted underwater thruster. Summary of the invention

[0004] The embodiments of the present specification provide a method for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster to solve the problem in the prior art that the placement angle of the vehicle-mounted underwater thruster cannot be determined.

[0005] To solve the above technical problems, the embodiments of this specification are implemented as follows: In a first aspect, an embodiment of this specification provides a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster, comprising: The rear stator of the underwater propeller in an ideal state is used as the rear stator to be tested; The propeller is tested using the rear stator to be tested in an actual state to obtain the placement angle of this test; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test does not meet the preset condition, the rear stator corresponding to the placement angle obtained in the current test is used as the rear stator to be tested, and the step of testing the propeller using the rear stator to be tested in the actual state is returned to be executed; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test in the actual state is obtained; The placement angle corresponding to one of the at least two propeller propulsion efficiencies that meets the selection conditions is used as the target placement angle.

[0006] In a second aspect, an embodiment of the present specification provides a device for determining a rear stator placement angle of a vehicle-mounted underwater thruster, comprising: A first determination module is used to use the rear stator of the underwater propeller in an ideal state as the rear stator to be tested; The second determination module is used to test the propeller using the rear stator to be tested in an actual state to obtain a placement angle for this test; A judgment module, used to judge whether the difference between the placement angle obtained in this test and the placement angle obtained in the previous test meets the preset conditions; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test does not meet the preset condition, the rear stator corresponding to the placement angle obtained in the current test is used as the rear stator to be tested, and the step of testing the propeller using the rear stator to be tested in the actual state is returned to be executed; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test in the actual state is obtained; The third determination module is used to take the placement angle corresponding to one of the at least two propeller propulsion efficiencies that meet the selection conditions as the target placement angle.

[0007] In a third aspect, an embodiment of the present specification provides a device for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method for determining the placement angle of the rear stator of the vehicle-mounted underwater thruster in scheme one.

[0008] In a fourth aspect, an embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the rear stator placement angle of a vehicle-mounted underwater thruster in scheme one.

[0009] An embodiment of the present specification realizes the following beneficial effects: the rear stator of an underwater thruster under an ideal state is used as the rear stator to be tested, the thruster is tested using the rear stator to be tested under an actual state, and the placement angle of this test is obtained, and it is determined whether the difference between the placement angle obtained in this test and the placement angle obtained in the previous test meets the preset conditions, and the placement angle is iteratively calculated, and the placement angle corresponding to one of at least two thruster propulsion efficiencies that meets the selection conditions is used as the target placement angle, so that the placement angle of the vehicle-mounted underwater thruster can be determined, and then a rear stator structure that meets the design requirements is obtained, thereby improving the propulsion efficiency of the vehicle-mounted underwater thruster. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0011] Figure 1 A schematic flow chart of a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification; Figure 2 A schematic diagram of a velocity triangle provided in an embodiment of this specification; Figure 3 A schematic diagram of a framework of a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification; Figure 4 A schematic diagram of an application scenario of a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification; Figure 5 A schematic diagram of the structure of a device for determining the rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification; Figure 6 A schematic diagram of the structure of a device for determining the rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of one or more embodiments of this specification.

[0013] The design of the rear stator requires the assumption of initial parameters. There are a large number of series of experiments and models for conventional stators, and a series of maps have been made. Therefore, conventional stators can be selected from existing maps and tables, but the space limitations of the vehicle-mounted propeller and other special features are not within the scope of the map. For example, the initial placement angle can be selected in the map through the curvature angle. There are placement angles corresponding to 7°~26° curvature angles in the map, but the curvature angle of the vehicle-mounted propeller is 3° (the specific range of the curvature angle can be referred to in the literature: Shanghai Pump Factory, Zhenjiang Agricultural Machinery College, Axial Flow Pump Design [J]. Pump Technology, 1975: 1-2). There is no corresponding placement angle to choose from in the map. Due to the lack of core design parameters, the design effect of the rear stator is poor.

[0014] In order to solve the defects in the prior art, the technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0015] A method for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster provided in an embodiment of the specification is specifically described in conjunction with the accompanying drawings.

[0016] Figure 1 A flow chart of a method for determining the rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification. From a program perspective, the execution subject of the process can be a program or application client installed on an application server. On the other hand, from a hardware perspective, the execution subject of the process can be a terminal device, which is not particularly limited in this embodiment.

[0017] like Figure 1 As shown, the process may include the following steps: Step 110: The rear stator of the underwater propeller in an ideal state is used as the rear stator to be tested.

[0018] In the embodiments of this specification, the underwater thruster propels the carrier forward by ejecting water at high speed and utilizing reaction force. The ideal state assumes that all conditions are perfect, the thruster is not affected by external interference or uncertainty factors, and the thrust loss of the thruster is zero. At this time, the outlet speed of the rotor is the inlet speed of the rear stator. The operating parameters of the underwater thruster are simulated under the ideal state, and the rear stator under the ideal state is obtained by calculating the operating parameters, and the rear stator is used as the rear stator to be tested.

[0019] Step 120: Testing the thruster using the rear stator to be tested in an actual state to obtain a placement angle for this test.

[0020] In the embodiments of this specification, the placement angle is the angle between the rear stator blades and the propeller axis, which determines how the rear stator affects the flow of the fluid. The placement angle can be used to preliminarily understand the impact of the rear stator on the flow of the fluid and provide a basis for subsequent design.

[0021] The actual state is that the thruster is affected by various factors, including fluid viscosity, turbulence, manufacturing tolerances, etc. During the actual test process, the design of the rear stator needs to be fine-tuned to obtain the best performance.

[0022] Test the propeller, start the propeller at a set speed, make it run stably in the water flow, obtain the operating parameters of the propeller, such as the flow rate at the outlet, calculate the placement angle of this test based on the operating parameters, so that a new rear stator can be made according to the placement angle of this test, and repeat the test based on the new rear stator. The test includes experimental testing or simulation analysis.

[0023] In practical applications, computational fluid dynamics (CFD) can be used to simulate and test the vehicle-mounted underwater thruster in simulation software, or a real experimental water tank can be used to experimentally test the vehicle-mounted underwater thruster to obtain the parameters of the vehicle-mounted underwater thruster during underwater operation, such as the tangential velocity and axial velocity at the rotor outlet, etc.

[0024] Step 130: If the difference between the placement angle obtained in this test and the placement angle obtained in the previous test does not meet the preset conditions, the rear stator corresponding to the placement angle obtained in this test is used as the rear stator to be tested, and the process returns to execute the step of testing the propeller using the rear stator to be tested under the actual state.

[0025] Step 140: If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test under the actual state is obtained.

[0026] In the embodiment of this specification, the difference between the placement angle obtained in this test and the placement angle obtained in the previous adjacent test is calculated to determine whether the difference meets a preset condition. The preset condition can be that the absolute value of the difference between the placement angles obtained in two adjacent tests is less than or equal to a preset threshold. The preset threshold can be 0.01.

[0027] If the preset conditions are not met, the rear stator corresponding to the placement angle obtained in this test is used as the rear stator to be tested, and the propeller is tested using the rear stator to be tested in the actual state to obtain the placement angle of the next test. The difference between the placement angle obtained in the next test and the placement angle obtained in this test is calculated to determine whether the difference meets the preset conditions. The placement angle obtained in each test is compared with the placement angle obtained in the previous test, and the difference between the placement angles on both sides is calculated, and the calculation is iterated in this way.

[0028] If the preset conditions are met, the iterative calculation is stopped, the placement angle of each test under the actual state is obtained, and the thruster propulsion efficiency corresponding to the placement angle of each test is calculated.

[0029] Propulsion efficiency = (thrust × speed) / (rotating speed × torque). Different placement angles correspond to different torques. Under the same speed and thrust, different placement angles correspond to different propulsion efficiencies.

[0030] Step 150: The placement angle corresponding to one of the at least two propeller propulsion efficiencies that meets the selection conditions is used as the target placement angle.

[0031] In the embodiment of this specification, the selection condition can be to maximize the propulsion efficiency, and collect the propulsion efficiency data of the thruster corresponding to each placement angle in all tests, including all test data from the first test to the meeting of the conditions under actual conditions.

[0032] The collected data are sorted according to the placement angle to ensure that each placement angle matches the corresponding thruster propulsion efficiency. The sorted data are compared and the placement angle corresponding to the one with the highest propulsion efficiency among at least two thrusters is taken as the target placement angle. This angle will serve as the benchmark for subsequent design and optimization.

[0033] In practical applications, increasing the installation angle can better convert non-axial speed into axial speed, but it will reduce the original axial speed. Therefore, this process needs to be iterated continuously until the installation angle corresponding to the maximum axial speed is found, so that the rear stator structure that meets the requirements can be obtained through the installation angle.

[0034] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification can be interchanged according to actual needs, or some steps can be omitted or deleted.

[0035] In the embodiments of the present specification, the rear stator of the underwater thruster under an ideal state is used as the rear stator to be tested, and the thruster is tested using the rear stator to be tested under an actual state to obtain the placement angle of this test, and it is determined whether the difference between the placement angle obtained in this test and the placement angle obtained in the previous test meets the preset conditions, and the placement angle is iteratively calculated, and the placement angle corresponding to one of at least two thruster propulsion efficiencies that meets the selection conditions is used as the target placement angle, so that the placement angle of the vehicle-mounted underwater thruster can be determined, and then the rear stator structure that meets the design requirements can be obtained, thereby improving the propulsion efficiency of the vehicle-mounted underwater thruster.

[0036] based on Figure 1 The method in this specification also provides some specific implementation plans of the method, which are described below.

[0037] Optionally, the method of using the rear stator of the underwater propeller in an ideal state as the rear stator to be tested in the embodiments of this specification may specifically include: Obtaining a first tangential velocity and a first axial velocity of the underwater propeller under an ideal state; determining a first placement angle according to the first tangential velocity and the first axial velocity; The rear stator corresponding to the first placement angle is used as the rear stator to be tested.

[0038] In the embodiments of this specification, under ideal conditions, the thrust of the propeller is guaranteed by the target thrust, the flow field at the outlet of the underwater propeller rotor is simulated, and the tangential velocity (i.e., the velocity component of the fluid rotating around the rotor) and the axial velocity (i.e., the velocity component of the fluid along the axis of the propeller) at the rotor outlet are extracted from the simulation results.

[0039] Figure 2 A schematic diagram of a velocity triangle provided in an embodiment of this specification.

[0040] Using the velocity triangle principle, the placement angle is calculated based on the tangential velocity and axial velocity. The velocity triangle is a geometric tool used to represent the relationship between the velocity components of the fluid at the rotor outlet. Figure 2 Shown is the rotor inlet speed, is the rotor outlet tangential velocity, is the absolute speed of the rotor outlet, is the rotor inlet relative speed, Relative speed at rotor outlet, Rotor circumferential speed.

[0041] The actual placement angle , where C u is the induction speed.

[0042] Under ideal conditions, the rotor inlet speed has no circumferential component and can be expressed as V u Replace C u , so the ideal placement angle .

[0043] According to the calculated placement angle, the corresponding rear stator structure is designed or selected for subsequent testing.

[0044] Optionally, in the embodiments of this specification, the propeller is tested using the rear stator to be tested in an actual state to obtain the placement angle of this test, which may specifically include: Testing the propeller using the rear stator to be tested in an actual state to obtain a second tangential velocity and a second axial velocity of the underwater propeller in an actual state; A second placement angle of this test is determined according to the second tangential velocity and the second axial velocity.

[0045] In the embodiments of this specification, in an actual underwater environment, the propeller is started and made to run stably, and the fluid velocity at the propeller outlet (i.e., downstream of the rear stator) is measured. The tangential velocity and axial velocity of the fluid at the propeller outlet are extracted from the measurement results. According to the tangential velocity and axial velocity measured in the actual state, the placement angle in the actual state is calculated. The placement angle can reflect the actual influence of the rear stator on the fluid flow in the actual state.

[0046] Further, optionally, in the embodiments of this specification, taking the rear stator corresponding to the first placement angle as the rear stator to be tested may specifically include: Calculating the density of blade cascades according to the first placement angle; A rear stator manufactured at least based on the first placement angle and the blade cascade density is used as a rear stator to be tested.

[0047] In the embodiments of this specification, the blade density is a parameter that describes the density of the rear stator blades. The blade density is usually defined as the ratio of the blade chord length to the axial distance between adjacent blades, or the ratio of the number of blades to the total length (or circumference) of the rear stator.

[0048] The rear stator chord length and blade density can be calculated through the placement angle.

[0049] Rear stator chord length ,in, is the grid pitch, r is the radius of the rear stator, and Z is the number of rear stators; is the diffusion angle, generally selected from 6°~10°, and the diffusion angle can be 7.5°.

[0050] Blade density .

[0051] The corresponding rear stator chord length and blade density are calculated for each placement angle obtained in the test, and the placement angle, rear stator chord length and blade density are iterated to determine the placement angle, rear stator chord length and blade density that meet the requirements. According to the NACA 6412 airfoil data, the rear stator structure that meets the requirements can be determined. The rear stator designed at least according to the first placement angle and blade density is used as the rear stator to be tested for subsequent experimental tests or simulation analysis.

[0052] Optionally, the method described in the embodiments of this specification may further include: manufacturing a target rear stator according to the target placement angle.

[0053] In the embodiments of this specification, a three-dimensional model of the rear stator is designed according to a target placement angle and other relevant design parameters (such as the number and shape of blades, material selection, etc.).

[0054] Optionally, in the embodiments of this specification, taking the placement angle corresponding to one of the at least two propulsion efficiencies of the propeller that meets the selection condition as the target placement angle may specifically include: The placement angle corresponding to the largest one of the at least two propeller propulsion efficiencies is used as the target placement angle.

[0055] In the embodiments of the present specification, by taking the placement angle corresponding to the maximum propulsion efficiency of the propeller as the target placement angle, and calculating the target chord length and target blade density based on the target placement angle, the optimal parameters for manufacturing the target rear stator can be obtained, thereby optimizing the rear stator structure and improving the propulsion efficiency of the propeller.

[0056] Optionally, the preset condition in the embodiment of this specification may be that the difference between the placement angles obtained from two adjacent tests is less than or equal to a preset threshold.

[0057] In practical applications, in order to ensure the overall performance of the rear stator structure, it is necessary to iteratively calculate the different radius sections from the hub to the tip of the rear stator. Generally, 5 different radius sections are selected to perform the above calculation process respectively.

[0058] Figure 3 A schematic diagram of a framework of a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification.

[0059] The placement angle under the actual state is iteratively calculated. In each iteration, the propulsion efficiency of the thruster is calculated. In the iteration, the placement angle corresponding to the maximum propulsion efficiency of the thruster is selected as the placement angle of the vehicle-mounted underwater thruster.

[0060] For ease of understanding, Figure 3 As shown, step 301: obtain the first axial velocity and the first tangential velocity under the ideal state, and calculate the placement angle. Specifically, obtain the first axial velocity and the first tangential velocity at the outlet of the underwater propeller rotor under the ideal state, and calculate the first placement angle under the ideal state according to the axial velocity and the tangential velocity; Step 302: Determine the density of the blade cascade. Specifically, determine the density of the blade cascade according to the placement angle; Step 303: Determine the rear stator to be tested. Specifically, determine the rear stator to be tested according to the chord length, number of blades, cross-sectional shape, etc. corresponding to the first placement angle and the blade density; Step 304: Under the actual state, determine the second placement angle and propulsion efficiency of the propeller. Specifically, the propulsion type is tested using the rear stator to be tested under the actual state, and the second tangential speed and the second axial speed of the underwater propeller under the actual state are obtained. According to the second tangential speed and the second axial speed, the second placement angle of this test is determined, and the propulsion efficiency of the propeller is calculated; Step 305: Determine whether the absolute value of the difference is less than or equal to 0.01. Specifically, determine whether the absolute value of the difference between the second placement angle and the first placement angle is less than or equal to 0.01; If yes, execute step 306: determine the target placement angle. Specifically, obtain the propulsion efficiency of the propeller corresponding to the placement angle of each test under the actual state, and use the placement angle corresponding to the largest one of at least two propeller propulsion efficiencies as the target placement angle, so as to determine the rear stator that can achieve the highest propulsion efficiency through the target placement angle; If not, execute step 302: determine the density of the blade cascades. The rear stator corresponding to the placement angle obtained in this test is used as the rear stator to be tested, and the placement angle is iteratively calculated.

[0061] In practical applications, through a large number of iterative results, a design map suitable for the rear stator of the vehicle-mounted thruster can be produced to ensure the accurate selection of core design parameters and improve the overall propulsion efficiency of the vehicle-mounted underwater thruster.

[0062] Figure 4 A schematic diagram of an application scenario of a method for determining a rear stator placement angle of a vehicle-mounted underwater thruster provided in an embodiment of this specification.

[0063] In practical applications, the number of iteration steps and iteration index ( ), if the number of iterations is set to 100, and the iteration index is less than 0.01, the iteration will be continued until 0.01 is satisfied. If it is less than 0.01 after 10 steps, the 11th step will not be performed, otherwise it will be continued until 100 steps are reached. Figure 4 It can be seen that when iterating to step 9, it can be satisfied Less than 0.01, the rear stator is made by adopting the iterative placement angle. The axial velocity after transformation by the rear stator tends to be stable, the wake velocity distribution is close to the ideal state, and the performance of the rear stator reaches the optimal state.

[0064] Figure 5 This is a schematic diagram of the structure of a device for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster proposed in an embodiment of this specification.

[0065] The device for determining the rear stator placement angle of the vehicle-mounted underwater propulsion device described in the embodiments of this specification may include: A first determination module 502 is used to use the rear stator of the underwater propeller in an ideal state as the rear stator to be tested; The second determination module 504 is used to test the propeller using the rear stator to be tested in the actual state to obtain the placement angle of this test; A determination module 506, for determining whether the difference between the placement angle obtained in this test and the placement angle obtained in the previous test meets a preset condition; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test does not meet the preset condition, the rear stator corresponding to the placement angle obtained in the current test is used as the rear stator to be tested, and the step of testing the propeller using the rear stator to be tested in the actual state is returned to be executed; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test in the actual state is obtained; The third determination module 508 is used to use the placement angle corresponding to one of the at least two propulsion efficiencies of the propeller that meets the selection condition as the target placement angle.

[0066] Optionally, the method of using the rear stator of the underwater propeller in an ideal state as the rear stator to be tested in the embodiments of this specification may specifically include: Obtaining a first tangential velocity and a first axial velocity of the underwater propeller under an ideal state; determining a first placement angle according to the first tangential velocity and the first axial velocity; The rear stator corresponding to the first placement angle is used as the rear stator to be tested.

[0067] Optionally, in the embodiments of this specification, the propeller is tested using the rear stator to be tested in an actual state to obtain the placement angle of this test, which may specifically include: Testing the propeller using the rear stator to be tested in an actual state to obtain a second tangential velocity and a second axial velocity of the underwater propeller in an actual state; A second placement angle of this test is determined according to the second tangential velocity and the second axial velocity.

[0068] Optionally, in the embodiments of this specification, taking the rear stator corresponding to the first placement angle as the rear stator to be tested may specifically include: Calculating the density of blade cascades according to the first placement angle; A rear stator manufactured at least based on the first placement angle and the blade cascade density is used as a rear stator to be tested.

[0069] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0070] Figure 6 The following is a schematic diagram of a device for determining the rear stator placement angle of a vehicle-mounted underwater propulsion device provided in an embodiment of this specification. Figure 6As shown, an embodiment of the present specification provides a device 600 for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster, comprising a memory 630, a processor 610, and a computer program 620 stored in the memory, wherein the processor 610 executes the computer program 620 to implement the method for determining the placement angle of the rear stator of a vehicle-mounted underwater thruster described in any of the above embodiments.

[0071] An apparatus for determining the placement angle of a rear stator of a vehicle-mounted underwater thruster provided in an embodiment of the present specification may include a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method for determining the placement angle of a rear stator of a vehicle-mounted underwater thruster described in any of the above embodiments.

[0072] An embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for determining the rear stator placement angle of a vehicle-mounted underwater thruster described in any of the above embodiments can be implemented.

[0073] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. Figure 6 As for the device shown, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0074] In the 1990s, it was very clear whether the improvement of a technology was hardware improvement (for example, improvement of the circuit structure of diodes, transistors, switches, etc.) or software improvement (improvement of the method flow). However, with the development of technology, many improvements of the method flow today can be regarded as direct improvements of the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be implemented with hardware entity modules. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask chip manufacturers to design and make dedicated integrated circuit chips. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0075] The controller may be implemented in any suitable manner, for example, the controller may take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (e.g., software or firmware) executable by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, and the memory controller may also be implemented as part of the control logic of the memory. It is also known to those skilled in the art that, in addition to implementing the controller in a purely computer-readable program code manner, the controller may be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, such a controller may be considered as a hardware component, and the devices for implementing various functions included therein may also be considered as structures within the hardware component. Or even, the devices for implementing various functions may be considered as both software modules for implementing the method and structures within the hardware component.

[0076] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0077] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0078] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0080] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0086] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0087] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0088] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for determining the placement angle of the rear stator of a vehicle-mounted underwater propeller, characterized in that: include: The rear stator of the underwater propeller in an ideal state is used as the rear stator to be tested; The propeller is tested using the rear stator to be tested in an actual state to obtain a placement angle for this test; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test does not meet the preset condition, the rear stator corresponding to the placement angle obtained in the current test is used as the rear stator to be tested, and the step of testing the propeller using the rear stator to be tested in the actual state is returned to be executed; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test in the actual state is obtained; The placement angle corresponding to one of the at least two propeller propulsion efficiencies that meets the selection conditions is used as the target placement angle.

2. The method according to claim 1, characterized in that The method of taking the rear stator of the underwater propeller in an ideal state as the rear stator to be tested specifically includes: Obtaining a first tangential velocity and a first axial velocity of the underwater propeller under an ideal state; determining a first placement angle according to the first tangential velocity and the first axial velocity; The rear stator corresponding to the first placement angle is used as the rear stator to be tested.

3. The method according to claim 1, characterized in that The propeller is tested using the rear stator to be tested in the actual state to obtain the placement angle of this test, specifically including: Testing the propeller using the rear stator to be tested in an actual state to obtain a second tangential velocity and a second axial velocity of the underwater propeller in an actual state; A second placement angle of this test is determined according to the second tangential velocity and the second axial velocity.

4. The method according to claim 2, characterized in that: The step of taking the rear stator corresponding to the first placement angle as the rear stator to be tested specifically includes: Calculating the density of blade cascades according to the first placement angle; A rear stator manufactured at least based on the first placement angle and the blade cascade density is used as a rear stator to be tested.

5. The method according to claim 1, characterized in that The method further comprises: A target rear stator is manufactured according to the target placement angle.

6. The method according to claim 1, characterized in that The step of taking the placement angle corresponding to one of the at least two propulsion efficiencies of the propeller that meets the selection condition as the target placement angle specifically includes: The placement angle corresponding to the largest one of the at least two propeller propulsion efficiencies is used as the target placement angle.

7. The method according to claim 1, characterized in that The preset condition is that the difference between the placement angles obtained from two consecutive tests is less than or equal to a preset threshold.

8. A device for determining the placement angle of the rear stator of a vehicle-mounted underwater propeller, characterized in that: include: A first determination module is used to use the rear stator of the underwater propeller in an ideal state as the rear stator to be tested; The second determination module is used to test the propeller using the rear stator to be tested in an actual state to obtain a placement angle for this test; A judgment module, used to judge whether the difference between the placement angle obtained in this test and the placement angle obtained in the previous test meets the preset conditions; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test does not meet the preset condition, the rear stator corresponding to the placement angle obtained in the current test is used as the rear stator to be tested, and the step of testing the propeller using the rear stator to be tested in the actual state is returned to be executed; If the difference between the placement angle obtained in the current test and the placement angle obtained in the previous test meets the preset condition, the propulsion efficiency of the propeller corresponding to the placement angle of each test in the actual state is obtained; The third determination module is used to take the placement angle corresponding to one of the at least two propeller propulsion efficiencies that meet the selection conditions as the target placement angle.

9. A device for determining the placement angle of a rear stator of a vehicle-mounted underwater propulsion device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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