CN110588933A - Self-adaptive attack angle swing wing propeller and design method - Google Patents
Self-adaptive attack angle swing wing propeller and design method Download PDFInfo
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- CN110588933A CN110588933A CN201910801755.4A CN201910801755A CN110588933A CN 110588933 A CN110588933 A CN 110588933A CN 201910801755 A CN201910801755 A CN 201910801755A CN 110588933 A CN110588933 A CN 110588933A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The invention relates to the technical field of bionic thrusters, in particular to a self-adaptive attack angle swing wing thruster and a design method, wherein the self-adaptive attack angle swing wing thruster is provided with a cylinder body of an aircraft, and the self-adaptive attack angle swing wing thruster is characterized in that a swing wing propelling component is arranged at the tail part of the cylinder body of the aircraft, the swing wing propelling component consists of a driving motor, a speed reducer, a driving gear set, a driving transverse shaft, a swing wing bracket and a swing wing, a self-adaptive spring component is arranged between the swing wing bracket and the swing wing, the swing wing swings around the swing wing bracket through the self-adaptive spring component between the swing wing and the swing wing bracket, and: determining design objective, determining advance coefficientJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’The numerical relational formula and the expression of the method determine the parameters of the swing wing and the swing wing bracket, determine the technical parameters of the spring, and determine the parameters and the reduction ratio of the driving motor, and have the advantages of simple structure, high propulsion efficiency, high maneuverability, single degree of freedom, large starting thrust and the like.
Description
Technical Field
The invention relates to the technical field of bionic thrusters, in particular to a self-adaptive attack angle swing wing thruster with simple structure, high propelling efficiency, high maneuverability, single degree of freedom and large starting thrust and a design method thereof.
Background
As is well known, a swing wing propeller is one type of bionic propeller. At present, most of bionic thrusters are not beneficial to engineering realization, and one part of the bionic thrusters is realized by adopting a complex mechanical structure and a control mechanism, so that the reliability and the durability are poor; the other part is realized by special materials and a complex control mode, the realization of large-scale is difficult, and the working range is limited. The swing wing propeller has the advantages of high propelling efficiency, high maneuverability, low noise and the like, has structural advantages of low mechanism freedom degree, easiness in engineering realization and the like, and has development potential.
At present, the swing wing propeller can be mainly divided into two types according to the degree of freedom of the mechanism, namely a single-degree-of-freedom swing wing and a two-degree-of-freedom swing wing. The two-degree-of-freedom swing wing controls swing and rotation simultaneously, high-precision control can be realized, but the mechanism is difficult to realize; the single-degree-of-freedom swing wing only controls swing, and although the mechanism is easy to realize, the single-degree-of-freedom swing wing is difficult to control in performance so as to adapt to different working conditions. From the viewpoint of the difficulty of mechanism realization, it is obvious that the single-degree-of-freedom swing wing is preferable. The single-degree-of-freedom swing wing can generate obvious thrust at a certain advancing speed, but the thrust is smaller in a static state. The swing wing made of the flexible material is also a single-degree-of-freedom swing wing, is similar to the swimming of a fish, can generate thrust when the flexible wing swings left and right and deforms under the action of hydrodynamic force, has larger starting thrust, and has higher requirement on the material.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a self-adaptive attack angle swing wing propeller which is simple in structure, high in propelling efficiency, high in maneuverability, single in degree of freedom and large in starting thrust and a design method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a self-adaptive attack angle swing wing propeller is provided with a navigation device barrel body, and is characterized in that a swing wing propelling component is arranged at the tail part of the navigation device barrel body and consists of a driving motor, a speed reducer, a driving gear set, a driving transverse shaft, a swing wing bracket and a swing wing, the driving motor is arranged in the navigation device barrel body and fixed on the navigation device barrel body, an output shaft of the driving motor is connected with the driving gear set through the speed reducer, the driving gear set is connected with the driving transverse shaft, the axial rotation of the driving motor is changed into the transverse rotation of the driving transverse shaft through the driving gear set, the two ends of the driving transverse shaft are respectively provided with the swing wing bracket, one end of the swing wing bracket is fixedly connected with the driving transverse shaft, the other end of the swing wing bracket extends out of the navigation device barrel body and is rotationally connected with the swing wing, the swing wing is in a plate shape, and the two sides of the plate-shaped swing, the self-adaptive spring assembly is arranged between the swing wing support and the swing wing, and the swing wing swings around the swing wing support through the self-adaptive spring assembly between the swing wing and the swing wing support, so that the swing wing can resist hydrodynamic force moment, and a larger thrust is obtained under a starting state.
The self-adaptive spring assembly provided by the invention comprises a swing arm, a cross beam and a tension spring, wherein the swing arm is arranged in the middle of the front end of a swing wing, one end of the swing arm is fixedly connected with the middle of the front end of the swing wing, the other end of the swing arm is provided with a connecting hole, one end of the tension spring is hooked in the connecting hole and connected with the swing arm, and the other end of the tension spring is hooked in the middle of the cross beam and connected with the cross beam.
The self-adaptive spring assembly is a torsion spring, the torsion springs are respectively arranged at the rotary joints of the swing wings and the swing wing bracket at the two sides of the swing wings, and a pair of torsion springs are respectively arranged at the two joints so as to ensure that the swing wings and the swing wing bracket are in the same plane under the condition of not bearing external force.
The driving gear set is provided with two conical gears, wherein one conical gear is connected with an output shaft of the speed reducer, the other conical gear is connected with the transverse shaft, the two conical gears are meshed with each other, and the axial rotation of the driving motor is changed into the transverse rotation of the driving transverse shaft through the two conical gears.
The swing wing is a flat plate with two rounded ends or a symmetrical wing type.
A design method of a self-adaptive attack angle swing wing propeller is characterized by comprising the following steps:
(1) determining the design purpose: designing a maximum cross-sectional dimension ofD(m) barrel of aircraft, designed to speedV(in m/s) at which speed the thrust requirement isT(unit N);
(2) determining the advance coefficientJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’The numerical relational formula and the expression are respectively as follows:
η (J)=0.753+4.07×10-3 J-7.96×10-4 J 2
β (J)=52.48-7.11 J+0.2685 J 2
KT (J)=-1.807+0.5776 J-0.01808 J 2
k’ (J)=58.1-18.57 J+1.61 J 2 (c 0/c=0)
k’(J)=54.16-15.39 J+1.177 J 2 (c 0/c=0.1)
the acceleration coefficient in the above numerical relation formulaJThe expression of (a) is:J=V/(f Sand/2) in the formula (I),fin order to be able to oscillate the frequency,Sin order to swing the arc length,Jthe value range is 6-12,
efficiency in the above numerical relationηThe expression of (a) is:η=T ave V/P ave in the formula (I), wherein,T ave in order to average the thrust force,P ave is the average power of the power to be measured,
in the above numerical relation formulaβIs the maximum swing angle, and the unit is the angle,
thrust coefficient in the above numerical relationKTThe expression of (a) is:KT=T ave /(ρ f 2 S 3 b) In the formula (I), wherein,ρis the density of the water and is,bin order to obtain the width of the swing wing,
spring elastic coefficient ratio in the above numerical relation formulak’Is expressed as (in the torsional elastic coefficient of the torsion spring)k oFor example):k’=k o/(ρ f 2 S 3 bc) If a tension spring scheme is adopted, the equivalent torsional elastic coefficient is requiredk e Instead of the formerk oNamely, in the formula,cin order to be the length of the swing wing,c 0the length of the position of the swing wing rotating shaft from the front end of the swing wing is obtained;
(3) determining parameters of the swing wing and the swing wing bracket:
defining the length of the swing wing ascThe thickness of the swing wing istFor a flat airfoil profile with rounded ends,c/tthe design value of the swing wing can be controlled to be 6-20, and the distance between the position of a swing wing rotating shaft and the front end of the swing wing isc 0，c 0/cThe value range of (A) is between 0 and 0.1; arc length of oscillation isSIs the maximum cross-sectional dimension of the barrel of an aircraftD0.5-2 times of that of the swing wing bracketLFor oscillating arc lengthS1-2 times of the length of the swing wingcFor oscillating arc lengthS0.2 to 0.5 times of; amplitude of oscillation angleθ 0=S/(2L)；
Maximum cross-sectional dimension of known aircraft barrelsDThe length of the oscillating arc can be obtainedSLength of the swing wingcThickness of the swing wingtThe swing arm of the swing wing bracket is longLThe length of the position of the swing wing rotating shaft from the front end of the swing wingc 0Amplitude of oscillation angleθ 0；
(4) Determining the technical parameters of the spring:
defining the distance from the rotating shaft of the swing wing to the cross beam asLs，LsFor swinging arm of swing wing bracketLong and longL0.2 to 0.5 times of the total length of the swing wing, the distance from the swing wing rotating shaft to the swing wing front arm mounting hole is set asr，rFor the distance from the rotary shaft of the swing wing to the cross beamLs0.3 to 0.6 times of the spring, when the spring is in the equilibrium position,Lsthe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positionsTo sum, i.e.Ls=r+s
Defining the equivalent torsional spring constant of a tension springk e Pretension force of tension spring in equilibrium positionFSpring rate of tension springkExtension of tension spring during yawΔxAngle of deflection between springs relative to swing wingsɑExist in a relational expression
k e β=(F+kΔx)rsinɑ
If a torsion spring scheme is adopted, the elastic coefficient of the torsion spring is required to be usedk oInstead of the formerk e Namely, in the above formula,FandkΔ xthe ratio of the two components is 0-15, and the spring assembly has the following two geometrical relationships
(Δx+s)sinɑ=(r+s)sinβ
(s+r-rcosβ)tan(ɑ-β)=rsinβ
Determining the swing arm length of the swing wing bracket according to the step (3)L，The distance from the rotating shaft of the swing wing to the cross beam can be obtainedLsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positions，
According to the formula in step (2), forJSelecting the same value, and obtaining the corresponding efficiency according to a formulaηSwing angleβCoefficient of thrustKTSpring elastic coefficient ratiok’(ii) a When in usec 0/cWhen the value is a certain value between 0 and 0.1, the calculation should be carried out respectivelyc 0/c=0 andc 0/cwhen =0.1k’Values are then obtained by linear interpolationc 0/cUnder the value ofk’A value;
known arc of oscillationIs long asSCoefficient of speed of advanceJAccording to the expressionJ=V/(f S/2) the available wobble frequencyf；
Known pivot angleβLength of spring in equilibrium positionsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAccording to the formula (s+r-rcosβ)tan(ɑ-β)=rsinβThe deflection angle between the spring and the swing wing can be obtainedɑAccording to the formula (Δx+s)sinɑ=(r+s)sinβThe amount of spring elongation that occurs upon deflection is determinedΔx，
Known coefficient of thrustKTSpring elastic coefficient ratiok’Average thrustT ave For the thrust requirementTAccording to the expressionKT=T ave /(ρ f 2 S 3 b) The width of the pendulum wing can be obtainedbShould ensureb/cIs greater than 4, if the calculation result is not satisfied, the swing arc length is dealt withSAnd length of the swing wingcAdjusting until the requirements are met; then according to the expressionk’=k o/(ρ f 2 S 3 bc) Determining the torsional elastic coefficient of the torsion springk oOr equivalent torsional spring constant of tension springk e Then according to the formulak e β=(F+kΔ x)rsinɑTo find outF+kΔx(ii) a Then according toFAndkΔxthe ratio of the values is defined to be 0-15 to obtain the pre-tightening force of the tension spring at the equilibrium positionFCoefficient of elasticity of tension springk；
(5) Determining the parameters of the driving motor and the reduction ratio:
firstly, ensuring that the reciprocating rotation of the motor can realize the oscillating frequency obtained in the step (4)f，
Secondly, the motor power is ensuredP＞2P ave Average thrustT ave For the thrust requirementTAccording to the efficiency in step (2)ηIs expressed asη=T ave V/P ave The average power of the motor can be obtainedP ave ，P ave =T ave V/η=TV/η，
Finally, defineQ 0The maximum instantaneous torque required to drive the swing wing bracket,Q m is motor torque and has a reduction ratio ofiShould ensureiQ m >Q 0，Q 0=TV/(ηπfθ 0)。
The invention is characterized in that the tail part of the cylinder body of the aircraft is provided with a swing wing propulsion assembly, the swing wing propulsion assembly consists of a driving motor, a speed reducer, a driving gear set, a driving transverse shaft, a swing wing bracket and a swing wing, the driving motor is arranged in the cylinder body of the aircraft and fixed on the cylinder body of the aircraft, an output shaft of the driving motor is connected with the driving gear set through the speed reducer, the driving gear set is connected with the driving transverse shaft, the axial rotation of the driving motor is converted into the transverse rotation of the driving transverse shaft through the driving gear set, both ends of the driving transverse shaft are respectively provided with the swing wing bracket, one end of the swing wing bracket is fixedly connected with the driving transverse shaft, the other end of the swing wing bracket extends out of the cylinder body of the aircraft and is rotatably connected with the swing wing, the swing wing is in a plate shape, both sides of the plate-shaped swing wing are respectively connected with the swing wing bracket through sealing bearings, the swing wing swings around the swing wing bracket through the self-adaptive spring assembly between the swing wing and the swing wing bracket, so that the swing wing can resist hydrodynamic force moment, and a large thrust is obtained under a starting state, the self-adaptive spring assembly consists of a swing arm, a cross beam and a tension spring, the swing arm is arranged in the middle of the front end of the swing wing, one end of the swing arm is fixedly connected with the middle of the front end of the swing wing, the other end of the swing arm is provided with a connecting hole, one end of the tension spring is hooked in the connecting hole and connected with the swing arm, the other end of the tension spring is hooked in the middle of the cross beam and connected with the cross beam, the self-adaptive spring assembly is arranged as torsion springs, the torsion springs are respectively arranged at the rotating connection positions of the swing wing and the swing wing bracket at the two sides of the swing wing, and a pair of torsion springs are respectively arranged at the two connection positions, so as to ensure that the, the driving gear group is provided with two conical gears, one conical gear is connected with an output shaft of the speed reducer, the other conical gear is connected with the cross shaft, the two conical gears are meshed with each other, and the axial rotation of the driving motor is changed into the transverse rotation of the driving cross shaft through the two conical gears.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is an operating state diagram of the present invention.
Fig. 3 is a diagram of a swing state of the present invention.
FIG. 4 is a schematic structural diagram of a swing wing of the present invention, wherein 4-1 is a symmetrical wing profile, and 4-2 is a flat wing profile with rounded ends.
FIG. 5 is a schematic view of the connection structure of the swing wing and the swing arm of the present invention.
Fig. 6 is another swing state diagram of the present invention.
FIG. 7 is a graph of the advance coefficient of the present inventionJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’A numerical relationship diagram of (2).
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in the attached drawings, the self-adaptive attack angle swing wing propeller is provided with a craft barrel 1, and is characterized in that a swing wing propulsion assembly is arranged at the tail part of the craft barrel 1, the swing wing propulsion assembly consists of a driving motor 2, a speed reducer 3, a driving gear set, a driving transverse shaft 4, a swing wing bracket 5 and a swing wing 6, the driving motor 2 is arranged in the craft barrel 1 and fixed on the craft barrel 1, an output shaft of the driving motor 2 is connected with the driving gear set through the speed reducer 3, the driving gear set is connected with the driving transverse shaft 4, the driving gear set converts axial rotation of the driving motor 2 into transverse rotation of the driving transverse shaft 4, swing wing brackets 5 are respectively arranged at two ends of the driving transverse shaft 4, one end of each swing wing bracket 5 is fixedly connected with the driving transverse shaft 4, and the other end of each swing wing bracket 5 extends out of the craft barrel 1 and is rotatably connected with the swing wing 6, the swing wing 6 is in a plate shape, two sides of the plate-shaped swing wing 6 are respectively connected with a swing wing bracket 5 through sealed bearings, an adaptive spring assembly is arranged between the swing wing bracket 5 and the swing wing 6, the swing wing 6 swings around the swing wing bracket 5 through the adaptive spring assembly between the swing wing 6 and the swing wing bracket 5, so that the swing wing 6 can resist hydrodynamic force moment, and a large thrust is obtained in a starting state, the adaptive spring assembly is composed of a swing arm 7, a cross beam 8 and a tension spring 9, the swing arm 7 is arranged in the middle of the front end of the swing wing 6, one end of the swing arm 7 is fixedly connected with the middle of the front end of the swing wing 6, the other end of the swing arm 7 is provided with a connecting hole, one end of the tension spring 9 is hooked in the connecting hole and connected with the swing arm 7, the other end of the tension spring 9 is hooked in the middle of the cross beam 8 and connected with the cross beam 8, the adaptive spring assembly is a torsion spring, the torsion springs are respectively arranged at the rotating joints of the swing wings 6 and the swing wing supports 5 at the two sides of the swing wings 6, a pair of torsion springs are respectively arranged at the two joints to ensure that the swing wings 6 and the swing wing supports 5 are in a plane under the condition of not being subjected to external force, and the swing wings 6 are flat plates or symmetrical wing profiles with two rounded ends. The driving gear group is provided with two conical gears 10, wherein one conical gear 10 is connected with an output shaft of the speed reducer 3, the other conical gear 10 is connected with the transverse shaft, the two conical gears 10 are meshed with each other, and the axial rotation of the driving motor 2 is changed into the transverse rotation of the driving transverse shaft 4 through the two conical gears 10.
A design method of a self-adaptive attack angle swing wing propeller is characterized by comprising the following steps:
(1) determining the design purpose: designing a maximum cross-sectional dimension ofD(m) barrel of aircraft, designed to speedV(in m/s) at which speed the thrust requirement isT(Single sheet)Bit N);
(2) determining the advance coefficientJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’The numerical relational formula and the expression are respectively as follows:
η (J)=0.753+4.07×10-3 J-7.96×10-4 J 2
β (J)=52.48-7.11 J+0.2685 J 2
KT (J)=-1.807+0.5776 J-0.01808 J 2
k’ (J)=58.1-18.57 J+1.61 J 2 (c 0/c=0)
k’(J)=54.16-15.39 J+1.177 J 2 (c 0/c=0.1)
the acceleration coefficient in the above numerical relation formulaJThe expression of (a) is:J=V/(f Sand/2) in the formula (I),fin order to be able to oscillate the frequency,Sin order to swing the arc length,Jthe value range is 6-12,
efficiency in the above numerical relationηThe expression of (a) is:η=T ave V/P ave in the formula (I), wherein,T ave in order to average the thrust force,P ave is the average power of the power to be measured,
in the above numerical relation formulaβIs the maximum swing angle, and the unit is the angle,
thrust coefficient in the above numerical relationKTThe expression of (a) is:KT=T ave /(ρ f 2 S 3 b) In the formula (I), wherein,ρis the density of the water and is,bin order to obtain the width of the swing wing,
spring elastic coefficient ratio in the above numerical relation formulak’Is expressed as (in the torsional elastic coefficient of the torsion spring)k oFor example):k’=k o/(ρ f 2 S 3 bc) If a tension spring scheme is adopted, the equivalent torsional elastic coefficient is requiredk e Instead of the formerk oNamely, in the formula,cin order to be the length of the swing wing,c 0the length of the position of the swing wing rotating shaft from the front end of the swing wing is obtained;
(3) determining parameters of the swing wing and the swing wing bracket:
defining the length of the swing wing ascThe thickness of the swing wing istFor a flat airfoil profile with rounded ends,c/tthe design value of the swing wing can be controlled to be 6-20, and the distance between the position of a swing wing rotating shaft and the front end of the swing wing isc 0，c 0/cThe value range of (A) is between 0 and 0.1; arc length of oscillation isSIs the maximum cross-sectional dimension of the barrel of an aircraftD0.5-2 times of that of the swing wing bracketLFor oscillating arc lengthS1-2 times of the length of the swing wingcFor oscillating arc lengthS0.2 to 0.5 times of; amplitude of oscillation angleθ 0=S/(2L)；
Maximum cross-sectional dimension of known aircraft barrelsDThe length of the oscillating arc can be obtainedSLength of the swing wingcThickness of the swing wingtThe swing arm of the swing wing bracket is longLThe length of the position of the swing wing rotating shaft from the front end of the swing wingc 0Amplitude of oscillation angleθ 0；
(4) Determining the technical parameters of the spring:
defining the distance from the rotating shaft of the swing wing to the cross beam asLs，LsFor swing arm length of swing wing supportL0.2 to 0.5 times of the total length of the swing wing, the distance from the swing wing rotating shaft to the swing wing front arm mounting hole is set asr，rFor the distance from the rotary shaft of the swing wing to the cross beamLs0.3 to 0.6 times of the spring, when the spring is in the equilibrium position,Lsthe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positionsTo sum, i.e.Ls=r+s
Defining the equivalent torsional spring constant of a tension springk e Pretension force of tension spring in equilibrium positionFSpring rate of tension springkExtension of tension spring during yawΔxSpringDeflection angle between opposite swing wingsɑExist in a relational expression
k e β=(F+kΔx)rsinɑ
If a torsion spring scheme is adopted, the elastic coefficient of the torsion spring is required to be usedk oInstead of the formerk e Namely, in the above formula,FandkΔ xthe ratio of the two components is 0-15, and the spring assembly has the following two geometrical relationships
(Δx+s)sinɑ=(r+s)sinβ
(s+r-rcosβ)tan(ɑ-β)=rsinβ
Determining the swing arm length of the swing wing bracket according to the step (3)L，The distance from the rotating shaft of the swing wing to the cross beam can be obtainedLsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positions，
According to the formula in step (2), forJSelecting the same value, and obtaining the corresponding efficiency according to a formulaηSwing angleβCoefficient of thrustKTSpring elastic coefficient ratiok’(ii) a When in usec 0/cWhen the value is a certain value between 0 and 0.1, the calculation should be carried out respectivelyc 0/c=0 andc 0/cwhen =0.1k’Values are then obtained by linear interpolationc 0/cUnder the value ofk’A value;
known as the arc length of oscillationSCoefficient of speed of advanceJAccording to the expressionJ=V/(f S/2) the available wobble frequencyf；
Known pivot angleβLength of spring in equilibrium positionsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAccording to the formula (s+r-rcosβ)tan(ɑ-β)=rsinβThe deflection angle between the spring and the swing wing can be obtainedɑAccording to the formula (Δx+s)sinɑ=(r+s)sinβThe amount of spring elongation that occurs upon deflection is determinedΔx，
Known coefficient of thrustKTSpring elastic coefficient ratiok’Average thrustT ave For the thrust requirementTAccording to the expressionKT=T ave /(ρ f 2 S 3 b) The width of the pendulum wing can be obtainedbShould ensureb/cIs greater than 4, if the calculation result is not satisfied, the swing arc length is dealt withSAnd length of the swing wingcAdjusting until the requirements are met; then according to the expressionk’=k o/(ρ f 2 S 3 bc) Determining the torsional elastic coefficient of the torsion springk oOr equivalent torsional spring constant of tension springk e Then according to the formulak e β=(F+kΔ x)rsinɑTo find outF+kΔx(ii) a Then according toFAndkΔxthe ratio of the values is defined to be 0-15 to obtain the pre-tightening force of the tension spring at the equilibrium positionFCoefficient of elasticity of tension springk；
(5) Determining the parameters of the driving motor and the reduction ratio:
firstly, ensuring that the reciprocating rotation of the motor can realize the oscillating frequency obtained in the step (4)f，
Secondly, the motor power is ensuredP＞2P ave Average thrustT ave For the thrust requirementTAccording to the efficiency in step (2)ηIs expressed asη=T ave V/P ave The average power of the motor can be obtainedP ave ，P ave =T ave V/η=TV/η，
Finally, defineQ 0The maximum instantaneous torque required to drive the swing wing bracket,Q m is motor torque and has a reduction ratio ofiShould ensureiQ m >Q 0，Q 0=TV/(ηπfθ 0)。
The swing wing propeller is one of bionic propellers, has the advantages of high propulsion efficiency, low noise, high maneuverability and the like, and has the structural advantages of low mechanism freedom, easiness in engineering realization and the like. The invention adopts the structural form of a rigid single-degree-of-freedom swing wing, has simple and reliable structure, is convenient for underwater sealing, is easier to realize compared with other swing wing propellers, and simultaneously designs a spring system for the swing wing propeller in order to overcome the problem of over-small starting thrust, so that the swing wing can rotate around a certain point on the wing profile under the action of a spring. When the inertia moment of the swing wing is negligible, the moment generated by the spring is balanced with the hydrodynamic moment when the swing wing moves. Because the hydrodynamic force moment is related to the attack angle, the swing wing can always rotate around the shaft and work under a self-adaptive attack angle, so that higher thrust is obtained under the starting state, and the self-adaptive attack angle swing wing propeller is formed. The invention has simple mechanism and flexible propulsion direction change, can conveniently adjust the swing amplitude and the swing frequency, thereby adjusting the generated thrust, and has wide application prospect.
The invention is applicable to cylindrical aircrafts and also can be extended to other types of aircrafts. In the aircraft, a servo motor is connected with a speed reducer to realize large moment output; the reducer is connected with a bevel gear to drive a transverse shaft to realize reversing; the transverse shaft is fixed on the tail shell of the aircraft through a waterproof bearing; the swing wing bracket is fixedly connected with the cross shaft outside the aircraft; the swing wing bracket is connected with the swing wing through a waterproof bearing;
in order to enable the swing wing to resist hydrodynamic torque, a self-adaptive spring assembly needs to be designed between the swing wing and the swing wing bracket, and the invention adopts two schemes:
scheme 1: the swing wing front edge is provided with a swing arm, the swing arm is connected with a swing wing support cross beam through a spring, and the cross beam simultaneously plays a role in reinforcing the swing wing support.
Scheme 2: torsion springs are arranged between the swing wings and the swing wing bracket, and a pair of torsion springs are respectively arranged at two connecting positions so as to ensure that the swing wings and the swing wing bracket are in the same plane under the condition of not bearing external force.
The wing profile of the swing wing can adopt a disclosed symmetrical wing profile, such as a NACA0012 wing profile, and the wing profile of the swing wing can also adopt a flat plate with two rounded ends, as shown in figure 4, so that the swing wing has high efficiency and better strength characteristic.
When the swing wing bracket swings under the driving of the servo motor, the swing wing generates a deflection angle relative to the swing wing bracket under the action of hydrodynamic force, the spring generates elastic tension, the deflection angle of the swing wing is ensured to be maintained within a design range, namely, the swing wing works within a proper attack angle range, and therefore thrust is generated.
The control mode of the invention is as follows: the control unit is arranged in the aircraft and used for providing pulse signals for the servo motor to enable the motor to reciprocate forwards and backwards, and the bevel gear set drives the transverse shaft to drive the swing wing bracket so as to enable the swing wing bracket to swing up and down; the control unit needs to firstly return the angle to zero, so that the swing wing bracket and the axis of the aircraft are in the same plane; when the aircraft moves linearly, the swing wing bracket swings up and down symmetrically; when the aircraft needs to deflect, the control unit controls the swing wing bracket to swing by taking the specified angle line as a symmetrical line according to the requirement, as shown in fig. 3.
The swing wing bracket has a designed swing angle amplitude value ofθ 0 At an equilibrium position angle ofϕTwo angles are shown in FIG. 3, and the wobble frequency is defined asfThe operation angle of the swing wing support can be expressed asθ s (t)，θ s (t)=ϕ+θ 0 sin(2πft) Because the rotation of the motor is decelerated by the speed reducer and the bevel gear set, the speed reduction ratio is realizediThe transmission of (2) is then the motor running angleθ m (t) Can be expressed asθ m (t)=iθ s (t)=iϕ+iθ 0 sin(2πft)。
Selection of motor and speed reducer in the invention
First, the motor power should be guaranteedPMeet the requirement of motor powerPAssociated with hydrodynamic design parameters.
Second, adjust the reduction ratioiTo ensure the torque after decelerationiQ m Greater than the maximum instantaneous torque required to drive the swing wing supportQ 0，Q 0Associated with hydrodynamic design parameters.
Thirdly, the response speed of the motor is ensured to realize the frequency of the swing wingfAnd (4) swinging.
Examples
(1) Determining the design purpose: designing a maximum cross-sectional dimension ofDCylindrical underwater vehicle and swing wing propeller with the speed of flight of =0.2m, as shown in figure 1V=1m/s, at which speed of flight the thrust requirement isT=10N；
(2) Determining the advance coefficientJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’The numerical relational formula and the expression are respectively as follows:
η (J)=0.753+4.07×10-3 J-7.96×10-4 J 2
β (J)=52.48-7.11 J+0.2685 J 2
KT (J)=-1.807+0.5776 J-0.01808 J 2
k’ (J)=58.1-18.57 J+1.61 J 2 (c 0/c=0)
k’(J)=54.16-15.39 J+1.177 J 2 (c 0/c=0.1)
the acceleration coefficient in the above numerical relation formulaJThe expression of (a) is:J=V/(f Sand/2) in the formula (I),fin order to be able to oscillate the frequency,Sin order to swing the arc length,Jthe value range is 6-12,
efficiency in the above numerical relationηThe expression of (a) is:η=T ave V/P ave in the formula (I), wherein,T ave in order to average the thrust force,P ave is the average power of the power to be measured,
in the above numerical relation formulaβIs the maximum swing angle, and the unit is the angle,
thrust coefficient in the above numerical relationKTThe expression of (a) is:KT=T ave /(ρ f 2 S 3 b) In the formula (I), wherein,ρis the density of the water and is,bin order to obtain the width of the swing wing,
spring elastic coefficient ratio in the above numerical relation formulak’Is expressed as (in the torsional elastic coefficient of the torsion spring)k oFor example):k’=k o/(ρ f 2 S 3 bc) If a tension spring scheme is adopted, the equivalent torsional elastic coefficient is requiredk e Instead of the formerk oNamely, in the formula,cin order to be the length of the swing wing,c 0the length of the position of the swing wing rotating shaft from the front end of the swing wing is obtained;
(3) determining parameters of the swing wing and the swing wing bracket:
defining the length of the swing wing ascThe thickness of the swing wing istFor a flat airfoil profile with rounded ends,c/tthe design value of (2) can be controlled to be between 6 and 20, wherein 20 is taken, and the length of the position of the rotating shaft of the swing wing from the front end of the swing wing isc 0，c 0/cThe value range of (a) is 0-0.1, and the value is 0c 0=0m，
Arc length of oscillation isSIs the maximum cross-sectional dimension of the barrel of an aircraftD0.5-2 times of the total amount of the above-mentioned raw materials, wherein the amount of the above-mentioned raw materials is 1 time of the total amount of the above-mentioned raw materials, and obtaining the productS=0.2m，
Swing arm of swing wing bracketLFor oscillating arc lengthS1-2 times of the total amount of the active ingredient, wherein the total amount is 2 times of the total amount of the active ingredientL=0.4m，
Length of swing wingcFor oscillating arc lengthS0.2 to 0.5 times of the total amount of the above-mentioned components, and taking the amount of 0.3 times of the total amount of the above-mentioned components to obtain the final productc=0.06m，
Thickness of swing wingtIs according toc/t =20, can obtaint=0.003m，
Amplitude of oscillation angleθ 0=S/(2L)=0.25rad，
(4) Determining the technical parameters of the spring:
defining the distance from the rotating shaft of the swing wing to the cross beam asLs，LsFor swing arm length of swing wing supportL0.2E0.5 times of the total weight of the powder,Lis 0.4m, to obtainLsThe value range is 80-200 mm, and the value is takenLs=110mm；
The distance from the swing wing rotating shaft to the swing wing forearm mounting hole is set asr，rFor the distance from the rotary shaft of the swing wing to the cross beamLs0.3-0.6 times of the total weight of the raw materials to obtain the productrThe value range is 33-66 mm, and the value is takenr=50mm；
When the spring is in the rest position,Lsthe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positionsTo sum, i.e.Ls=r+sIs obtained bys=60mm；
Defining the equivalent torsional spring constant of a tension springk e Pretension force of tension spring in equilibrium positionFSpring rate of tension springkExtension of tension spring during yawΔxAngle of deflection between springs relative to swing wingsɑExist in a relational expression
k e β=(F+kΔx)rsinɑ
If a torsion spring scheme is adopted, the elastic coefficient of the torsion spring is required to be usedk oInstead of the formerk e Namely, in the above formula,FandkΔ xthe ratio of the two components is 0-15, 10, the spring component has the following two geometrical relations
(Δx+s)sinɑ=(r+s)sinβ
(s+r-rcosβ)tan(ɑ-β)=rsinβ
According to the formula in step (2), forJSelecting the same value, and takingJ=7, and then the corresponding efficiency is found according to the formulaη=0.742, pivot angleβ=15.9 °, about 0.277rad, thrust coefficientKT=1.35, spring rate ratiok’=7.0；
Known as the arc length of oscillationS=0.2m, advance rate coefficientJ=7, according to the expressionJ=V/(f S/2) the available wobble frequencyf=1.43Hz；
Known pivot angleβ=15.9 °, length of spring in equilibrium positionDegree of rotations=60mm, distance between rotary shaft of swing wing and mounting hole of front arm of swing wingr=50mm, according to the formula (s+r-rcosβ)tan(ɑ-β)=rsinβThe deflection angle between the spring and the swing wing can be obtainedɑ=28.3 °, according to the formula (Δx+s)sinɑ=(r+s)sinβThe amount of spring elongation that occurs upon deflection is determinedΔx=3.4mm，
Known coefficient of thrustKT=1.35, spring rate ratiok’=7, average thrust is takenT ave For the thrust requirementTI.e. byT ave Density of water intake =10Nρ=1000Kg/m3According to the expressionKT=T ave /(ρ f 2 S 3 b) The width of the pendulum wing can be obtainedb=454mm，b/cThe value of (A) is more than 4, and the requirement is met; then according to the expressionk’=k o/(ρ f 2 S 3 bc) Determining the torsional elastic coefficient of the torsion springk oEquivalent torsional elastic coefficient of =3.11N.m/rad or tension springk e =3.11N.m/rad, according to the formulak e β=(F+kΔx)rsinɑTo find outF+kΔx= 36.3N; then according toFAndkΔxthe ratio is 10, the pre-tightening force of the tension spring at the equilibrium position is obtainedFSpring constant of =33N and tension springk=0.972N/mm；
(5) Determining the parameters of the driving motor and the reduction ratio:
firstly, ensuring that the reciprocating rotation of the motor can realize the oscillating frequency obtained in the step (4)f=1.43Hz，
Secondly, the motor power is ensuredP＞2P ave Average thrustT ave For the thrust requirementTI.e. byT ave =10N, according to efficiency in step (2)ηIs expressed asη=T ave V/P ave The average power of the motor can be obtainedP ave ，P＞2P ave =2T ave V/η=26.9W，
Finally, defineQ 0The maximum instantaneous torque required to drive the swing wing bracket,Q m is motor torque and has a reduction ratio ofiShould ensureiQ m >Q 0，Q 0=TV/(ηπfθ 0)=12.0N.m。
Claims (6)
1. A self-adaptive attack angle swing wing propeller is provided with a navigation device barrel body, and is characterized in that a swing wing propelling component is arranged at the tail part of the navigation device barrel body and consists of a driving motor, a speed reducer, a driving gear set, a driving transverse shaft, a swing wing bracket and a swing wing, the driving motor is arranged in the navigation device barrel body and fixed on the navigation device barrel body, an output shaft of the driving motor is connected with the driving gear set through the speed reducer, the driving gear set is connected with the driving transverse shaft, the axial rotation of the driving motor is changed into the transverse rotation of the driving transverse shaft through the driving gear set, the two ends of the driving transverse shaft are respectively provided with the swing wing bracket, one end of the swing wing bracket is fixedly connected with the driving transverse shaft, the other end of the swing wing bracket extends out of the navigation device barrel body and is rotationally connected with the swing wing, the swing wing is in a plate shape, and the two sides of the plate-shaped swing, the self-adaptive spring assembly is arranged between the swing wing support and the swing wing, and the swing wing swings around the swing wing support through the self-adaptive spring assembly between the swing wing and the swing wing support, so that the swing wing can resist hydrodynamic force moment, and a larger thrust is obtained under a starting state.
2. The propeller of claim 1, wherein the adaptive spring assembly comprises a swing arm, a beam and a tension spring, the swing arm is arranged in the middle of the front end of the swing wing, one end of the swing arm is fixedly connected with the middle of the front end of the swing wing, the other end of the swing arm is provided with a connecting hole, one end of the tension spring is hooked in the connecting hole and connected with the swing arm, and the other end of the tension spring is hooked in the middle of the beam and connected with the beam.
3. The propeller of claim 1, wherein the adaptive spring assembly is a torsion spring, the torsion spring is respectively disposed at the rotational joints between the swing wing and the swing wing support at both sides of the swing wing, and a pair of torsion springs are respectively disposed at the two joints to ensure that the swing wing and the swing wing support are in a plane without external force.
4. The propeller as claimed in claim 1, 2 or 3, wherein the swing wing is a flat plate with rounded ends or a symmetrical wing profile.
5. The propeller of claim 1, wherein the driving gear set comprises two bevel gears, one of the bevel gears is connected to the output shaft of the reducer, the other bevel gear is connected to the transverse shaft, and the two bevel gears are engaged with each other.
6. A design method of a self-adaptive attack angle swing wing propeller is characterized by comprising the following steps:
(1) determining the design purpose: designing a maximum cross-sectional dimension ofD(m) barrel of aircraft, designed to speedV(in m/s) at which speed the thrust requirement isT(unit N);
(2) determining the advance coefficientJRespectively and efficiencyηCoefficient of thrustKTSwing wing is opposite to swing wing bracket swing angleβSpring elastic coefficient ratiok’The numerical relational formula and the expression are respectively as follows:
η(J)=0.753+4.07×10-3 J-7.96×10-4 J 2
β(J)=52.48-7.11 J+0.2685 J 2
KT (J)=-1.807+0.5776 J-0.01808 J 2
k’ (J)=58.1-18.57 J+1.61 J 2 (c 0/c=0)
k’(J)=54.16-15.39 J+1.177 J 2 (c 0/c=0.1)
in the above numerical relation formulac 0The length of the position of the swing wing rotating shaft from the front end of the swing wing,cis the length of the swing wing
The acceleration coefficient in the above numerical relation formulaJThe expression of (a) is:J=V/(f Sand/2) in the formula (I),fin order to be able to oscillate the frequency,Sin order to swing the arc length,Jthe value range is 6-12,
efficiency in the above numerical relationηThe expression of (a) is:η=T ave V/P ave in the formula (I), wherein,T ave in order to average the thrust force,P ave is the average power of the power to be measured,
in the above numerical relation formulaβIs the maximum swing angle, and the unit is the angle,
thrust coefficient in the above numerical relationKTThe expression of (a) is:KT=T ave /(ρ f 2 S 3 b) In the formula (I), wherein,ρis the density of the water and is,bin order to obtain the width of the swing wing,
spring elastic coefficient ratio in the above numerical relation formulak’The expression of (a) is:k’=k o/(ρ f 2 S 3 bc) The above relation is expressed by the torsional elastic coefficient of the torsion springk oFor example, if a tension spring scheme is adopted, an equivalent torsional elastic coefficient is requiredk e Instead of the formerk oNamely, in the formula,cin order to be the length of the swing wing,c 0the length of the position of the swing wing rotating shaft from the front end of the swing wing is obtained;
(3) determining parameters of the swing wing and the swing wing bracket:
defining the length of the swing wingDegree ofcThe thickness of the swing wing istFor a flat airfoil profile with rounded ends,c/tthe design value of the swing wing can be controlled to be 6-20, and the distance between the position of a swing wing rotating shaft and the front end of the swing wing isc 0，c 0/cThe value range of (A) is between 0 and 0.1; arc length of oscillation isSIs the maximum cross-sectional dimension of the barrel of an aircraftD0.5-2 times of that of the swing wing bracketLFor oscillating arc lengthS1-2 times of the length of the swing wingcFor oscillating arc lengthS0.2 to 0.5 times of; amplitude of oscillation angleθ 0=S/(2L)；
Maximum cross-sectional dimension of known aircraft barrelsDThe length of the oscillating arc can be obtainedSLength of the swing wingcThickness of the swing wingtThe swing arm of the swing wing bracket is longLThe length of the position of the swing wing rotating shaft from the front end of the swing wingc 0Amplitude of oscillation angleθ 0；
(4) Determining the technical parameters of the spring:
defining the distance from the rotating shaft of the swing wing to the cross beam asLs，LsFor swing arm length of swing wing supportL0.2 to 0.5 times of the total length of the swing wing, the distance from the swing wing rotating shaft to the swing wing front arm mounting hole is set asr，rFor the distance from the rotary shaft of the swing wing to the cross beamLs0.3 to 0.6 times of the spring, when the spring is in the equilibrium position,Lsthe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positionsTo sum, i.e.Ls=r+s
Defining the equivalent torsional spring constant of a tension springk e Pretension force of tension spring in equilibrium positionFSpring rate of tension springkExtension of tension spring during yawΔx，sThe angle of deflection of the spring relative to the swing wing for the length of the spring in the rest positionɑExist in a relational expression
k e β=(F+kΔx)rsinɑ
If the torsion spring scheme is adopted, the elastic coefficient of the torsion spring is required to be usedk oInstead of the formerk e Namely, in the above formula,FandkΔxvalue of the ratio ofThe range is 0-15, and the spring assembly has the following two geometrical relations
(Δx+s)sinɑ=(r+s)sinβ
(s+r-rcosβ)tan(ɑ-β)=rsinβ
Determining the swing arm length of the swing wing bracket according to the step (3)L，The distance from the rotating shaft of the swing wing to the cross beam can be obtainedLsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAnd the length of the spring in the rest positions，
According to the formula in step (2), forJSelecting the same value, and obtaining the corresponding efficiency according to a formulaηSwing angleβCoefficient of thrustKTSpring elastic coefficient ratiok’(ii) a When in usec 0/cWhen the value is a certain value between 0 and 0.1, the calculation should be carried out respectivelyc 0/c=0 andc 0/cwhen =0.1k’Values are then obtained by linear interpolationc 0/cUnder the value ofk’A value;
known as the arc length of oscillationSCoefficient of speed of advanceJAccording to the expressionJ=V/(f S/2) the available wobble frequencyf；
Known pivot angleβLength of spring in equilibrium positionsThe distance from the swing wing rotating shaft to the swing wing forearm mounting holerAccording to the formula (s+r-rcosβ)tan(ɑ-β)=rsinβThe deflection angle between the spring and the swing wing can be obtainedɑAccording to the formula (Δx+s)sinɑ=(r+s)sinβThe amount of spring elongation that occurs upon deflection is determinedΔx，
Known coefficient of thrustKTSpring elastic coefficient ratiok’Average thrustT ave For the thrust requirementTAccording to the expressionKT=T ave /(ρ f 2 S 3 b) The width of the pendulum wing can be obtainedbShould ensureb/cIs greater than 4, if the calculation result is not satisfied, the swing arc length is dealt withSAnd length of the swing wingDegree of rotationcAdjusting until the requirements are met; then according to the expressionk’=k o/(ρ f 2 S 3 bc) Determining the torsional elastic coefficient of the torsion springk oOr equivalent torsional spring constant of tension springk e Then according to the formulak e β=(F+kΔx)rsinɑTo find outF+kΔx(ii) a Then according toFAndkΔxthe ratio of the values is defined to be 0-15 to obtain the pre-tightening force of the tension spring at the equilibrium positionFCoefficient of elasticity of tension springk；
(5) Determining the parameters of the driving motor and the reduction ratio:
firstly, ensuring that the reciprocating rotation of the motor can realize the oscillating frequency obtained in the step (4)f，
Secondly, the motor power is ensuredP＞2P ave Average thrustT ave For the thrust requirementTAccording to the efficiency in step (2)ηIs expressed asη=T ave V/P ave The average power of the motor can be obtainedP ave ，P ave =T ave V/η=TV/η，
Finally, defineQ 0The maximum instantaneous torque required to drive the swing wing bracket,Q m is motor torque and has a reduction ratio ofiShould ensureiQ m >Q 0，Q 0=TV/(ηπfθ 0)。
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5686890A (en) * | 1979-12-18 | 1981-07-15 | Minoru Nagai | Fish fin underwater propelling device |
| CN201002714Y (en) * | 2007-01-19 | 2008-01-09 | 哈尔滨工程大学 | Underwater hydrofoil imitation propulsion unit |
| CN104443332A (en) * | 2014-12-12 | 2015-03-25 | 华北电力大学 | Bionic robotic fish jointly driven by driving joint and driven joint |
| CN204956891U (en) * | 2015-08-06 | 2016-01-13 | 上海湖益科贸有限公司 | Flexible structure that impels of bionical fish tail dual drive |
| CN206297718U (en) * | 2016-11-08 | 2017-07-04 | 山东科技大学 | A kind of bionic mechanical fish tail portion propulsive mechanism |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5686890A (en) * | 1979-12-18 | 1981-07-15 | Minoru Nagai | Fish fin underwater propelling device |
| CN201002714Y (en) * | 2007-01-19 | 2008-01-09 | 哈尔滨工程大学 | Underwater hydrofoil imitation propulsion unit |
| CN104443332A (en) * | 2014-12-12 | 2015-03-25 | 华北电力大学 | Bionic robotic fish jointly driven by driving joint and driven joint |
| CN204956891U (en) * | 2015-08-06 | 2016-01-13 | 上海湖益科贸有限公司 | Flexible structure that impels of bionical fish tail dual drive |
| CN206297718U (en) * | 2016-11-08 | 2017-07-04 | 山东科技大学 | A kind of bionic mechanical fish tail portion propulsive mechanism |
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