CN114701631A - Guide plate type vector control mechanism for pump jet propeller - Google Patents
Guide plate type vector control mechanism for pump jet propeller Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
- B63H11/103—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof having means to increase efficiency of propulsive fluid, e.g. discharge pipe provided with means to improve the fluid flow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
- B63H11/107—Direction control of propulsive fluid
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Abstract
本发明属于水下航行器控制领域,并具体公开了一种用于泵喷推进器的导流板式矢量控制机构,其包括导流板组件和驱动组件,其中:所述导流板组件包括多个导流板,该导流板为曲面结构,多个导流板且沿泵喷推进器的喷口外壁周向设置;所述驱动组件包括多个驱动结构,该驱动结构与所述导流板一一对应,多个驱动结构用于分别调整各导流板相对于喷口出水平面的转动角度,从而产生全方位且大小可调的转向力。本发明将泵喷推进技术与矢量推进技术相结合,使水下航行器转向控制机构同时拥有泵喷推进器的高速低噪声特性以及矢量推进器的高效率控制特性。
The invention belongs to the field of underwater vehicle control, and specifically discloses a deflector-type vector control mechanism for a pump-jet propeller, which comprises a deflector assembly and a drive assembly, wherein: the deflector assembly includes multiple a deflector, the deflector is a curved surface structure, and a plurality of deflectors are arranged along the circumference of the outer wall of the nozzle of the pump-jet propeller; the driving assembly includes a plurality of driving structures, the driving structure and the deflector In one-to-one correspondence, a plurality of driving structures are used to adjust the rotation angle of each deflector relative to the horizontal plane of the spout, thereby generating an omnidirectional and adjustable steering force. The invention combines the pump-jet propulsion technology and the vector propulsion technology, so that the steering control mechanism of the underwater vehicle has the high-speed and low-noise characteristics of the pump-jet propulsion and the high-efficiency control characteristics of the vector propulsion.
Description
技术领域technical field
本发明属于水下航行器控制领域,更具体地,涉及一种用于泵喷推进器的导流板式矢量控制机构。The invention belongs to the field of underwater vehicle control, and more particularly relates to a deflector-type vector control mechanism for pump-jet propulsion.
背景技术Background technique
在海洋事业日益发展重要的今天,对水下航行器的研究引起了越来越多的关注。水下航行器现主要应用于环境研究、军事探查等领域。泵喷推进器是一种通过水下航行器的驱动轴来提供动力的推进器,相比于一般的螺旋桨推进器,泵喷推进器有更低的噪声以及更高的低噪声航速。对泵喷推进装置的研究是船舶领域的一个重要研究方向,但目前泵喷推进装置的操纵性能和控制效率较差。In today's increasingly important marine industry, the research on underwater vehicles has attracted more and more attention. Underwater vehicles are now mainly used in environmental research, military exploration and other fields. Pump-jet propulsion is a kind of propeller that provides power through the drive shaft of underwater vehicle. Compared with general propeller propellers, pump-jet propulsion has lower noise and higher low-noise speed. The research on pump jet propulsion is an important research direction in the field of ships, but the current pump jet propulsion device has poor maneuverability and control efficiency.
矢量推进技术是现今世界顶尖战斗机所应用的尖端科技,采用矢量推进装置的战斗机的发动机喷口既能产生高速气流,又能使气流进行360°偏转。矢量控制机构能够使喷口流体的一部分推力变为转向所用力,这样能够提升战斗机的转向能力。据此可以考虑设计一种结合矢量推进技术的水下航行器控制机构,该控制机构采用一种全新的转向控制方式,使航行器拥有更佳的操纵性能。Vector propulsion technology is a cutting-edge technology applied by the world's top fighter jets. The engine nozzles of fighter jets using vector propulsion devices can not only generate high-speed airflow, but also make the airflow deflect 360°. The vector control mechanism can convert part of the thrust of the nozzle fluid into the steering force, which can improve the steering ability of the fighter. Therefore, it can be considered to design a control mechanism of underwater vehicle combined with vector propulsion technology. The control mechanism adopts a new steering control method to make the vehicle have better maneuverability.
发明内容SUMMARY OF THE INVENTION
针对现有技术的以上缺陷或改进需求,本发明提供了一种用于泵喷推进器的导流板式矢量控制机构,其目的在于,将泵喷推进技术与矢量推进技术相结合,使水下航行器转向控制机构同时拥有泵喷推进器的高速低噪声特性以及矢量推进器的高效率控制特性。In view of the above defects or improvement needs of the prior art, the present invention provides a deflector-type vector control mechanism for pump-jet propulsion, the purpose of which is to combine pump-jet propulsion technology and vector propulsion technology to make underwater The steering control mechanism of the aircraft has both the high-speed and low-noise characteristics of the pump-jet propulsion and the high-efficiency control characteristics of the vector thruster.
为实现上述目的,本发明提出了一种用于泵喷推进器的导流板式矢量控制机构,包括导流板组件和驱动组件,其中:In order to achieve the above object, the present invention provides a deflector-type vector control mechanism for a pump-jet propulsion, including a deflector assembly and a drive assembly, wherein:
所述导流板组件包括多个导流板,该导流板为曲面结构,多个导流板且沿泵喷推进器的喷口外壁周向设置;所述驱动组件包括多个驱动结构,该驱动结构与所述导流板一一对应,多个驱动结构用于分别调整各导流板的转动角度,从而产生全方位且大小可调的转向力。The deflector assembly includes a plurality of deflectors, the deflector is a curved surface structure, and the plurality of deflectors are arranged along the circumference of the outer wall of the nozzle of the pump-jet propeller; the driving assembly includes a plurality of driving structures, the The driving structures are in one-to-one correspondence with the deflectors, and a plurality of driving structures are used to adjust the rotation angle of each deflector respectively, so as to generate an omnidirectional and adjustable steering force.
作为进一步优选的,所述驱动结构包括依次连接的液压缸缸筒、液压缸活塞杆和传动连杆,其中,所述液压缸缸筒固定在所述喷口外壁上,所述传动连杆通过铰链安装板与所述导流板连接。As a further preference, the driving structure includes a hydraulic cylinder cylinder, a hydraulic cylinder piston rod and a transmission connecting rod connected in sequence, wherein the hydraulic cylinder cylinder is fixed on the outer wall of the spout, and the transmission connecting rod is connected by a hinge The mounting plate is connected with the deflector.
作为进一步优选的,所述传动连杆通过铰链安装板安装在所述导流板的底端中部;所述导流板底部两侧也固定有铰链安装板,该两侧的铰链安装板与喷口外壁上对应位置的凸起铰接。As a further preference, the transmission link is installed in the middle of the bottom end of the deflector through a hinge mounting plate; hinge mounting plates are also fixed on both sides of the bottom of the deflector, and the hinge mounting plates on the two sides are connected to the spout. Raised hinges at corresponding positions on the outer wall.
作为进一步优选的,所述液压缸活塞杆、传动连杆和导流板1所组成的结构自由度为1。As a further preference, the structural freedom of the hydraulic cylinder piston rod, the transmission connecting rod and the deflector 1 is 1.
作为进一步优选的,所述液压缸缸筒的液压控制回路中采用钢制油管。As a further preference, a steel oil pipe is used in the hydraulic control circuit of the hydraulic cylinder.
作为进一步优选的,所述导流板的板厚由底部向顶部逐渐由厚变薄。As a further preference, the thickness of the guide plate gradually becomes thinner from the bottom to the top.
作为进一步优选的,所述导流板共有四个,且两两对称布置在喷口外壁上。As a further preference, there are four said guide plates in total, and they are symmetrically arranged on the outer wall of the spout.
作为进一步优选的,所述导流板转动过程中彼此之间不发生干涉碰撞,且当四个导流板向喷口内部转动至极限位置时,共同形成部分闭合的圆锥面。As a further preference, there is no interference and collision with each other during the rotation of the baffles, and when the four baffles rotate toward the inside of the spout to a limit position, a partially closed conical surface is formed together.
作为进一步优选的,所述导流板转动到极限位置时,其相对喷口出水平面的转动角度为±30°。As a further preference, when the deflector is rotated to the limit position, its rotation angle relative to the horizontal plane of the spout is ±30°.
作为进一步优选的,通过矢量输入工具控制所述导流板的转动角度,进而控制转向力的大小与方向。As a further preference, a vector input tool is used to control the rotation angle of the deflector, thereby controlling the magnitude and direction of the steering force.
总体而言,通过本发明所构思的以上技术方案与现有技术相比,主要具备以下的技术优点:In general, compared with the prior art, the above technical solutions conceived by the present invention mainly have the following technical advantages:
1.本发明将泵喷推进技术与矢量推进技术相结合,使水下航行器转向控制机构同时拥有泵喷推进器的高速低噪声特性以及矢量推进器的高效率控制特性;本发明中多个驱动结构与导流板一一对应,使矢量控制机构可为泵喷式水下航行器提供全方位且大小可调的转向力,实现水下航行器的矢量控制。1. The present invention combines the pump-jet propulsion technology with the vector propulsion technology, so that the steering control mechanism of the underwater vehicle has the high-speed and low-noise characteristics of the pump-jet propulsion and the high-efficiency control characteristics of the vector propulsion; The driving structure is in one-to-one correspondence with the deflector, so that the vector control mechanism can provide an all-round and adjustable steering force for the pump-jet underwater vehicle, so as to realize the vector control of the underwater vehicle.
2.本发明中驱动结构具体为液压驱动,并铰接在导流板底端中部,可快速有效为导流板转动提供准确动力;同时进一步将导流板底部两侧铰接在喷口外壁上,从而提高转动的稳定性和准确性。2. In the present invention, the driving structure is hydraulically driven, and is hinged in the middle of the bottom end of the deflector, which can quickly and effectively provide accurate power for the rotation of the deflector; Improve the stability and accuracy of rotation.
3.本发明将导流板的板厚设计为由底部向顶部逐渐由厚变薄,可以在节约材料用量、减轻整个机构重量的同时,达到导流板预定的力学性能和方向控制效果。3. The present invention designs the thickness of the deflector to gradually become thinner from the bottom to the top, which can achieve the predetermined mechanical properties and direction control effects of the deflector while saving material consumption and reducing the weight of the entire mechanism.
4.本发明综合考虑成本和转向控制效果,优选采用四个导流板,其可以转动实现任意角度的组合,为水下航行器提供任意方向的转向力,且转向力大小可控;同时操作人员可以直接对导流板进行控制。4. The present invention comprehensively considers the cost and steering control effect, and preferably adopts four deflectors, which can be rotated to realize any combination of angles, provide steering force in any direction for the underwater vehicle, and the steering force is controllable; Personnel can directly control the deflector.
附图说明Description of drawings
图1为本发明实施例用于泵喷推进器的导流板式矢量控制机构结构示意图;1 is a schematic structural diagram of a deflector-type vector control mechanism for a pump-jet propulsion according to an embodiment of the present invention;
图2为本发明实施例单个导流板结构示意图;2 is a schematic structural diagram of a single deflector according to an embodiment of the present invention;
图3为本发明实施例导流板式矢量控制机构的操纵策略示意图。3 is a schematic diagram of a manipulation strategy of a deflector-type vector control mechanism according to an embodiment of the present invention.
在所有附图中,相同的附图标记用来表示相同的元件或结构,其中:1-导流板,2-喷口外壁,3-液压缸安装座,4-液压缸缸筒,5-液压缸活塞杆,6-传动连杆,7-活动铰接点,8-固定铰接点。In all the drawings, the same reference numerals are used to refer to the same elements or structures, wherein: 1- deflector plate, 2- spout outer wall, 3- hydraulic cylinder mount, 4- hydraulic cylinder barrel, 5- hydraulic Cylinder piston rod, 6-drive connecting rod, 7-living hinge point, 8-fixed hinge point.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。此外,下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
本发明实施例提供的一种用于泵喷推进器的导流板式矢量控制机构,如图1所示,包括导流板组件和驱动组件,其中:A deflector-type vector control mechanism for a pump-jet propulsion provided by an embodiment of the present invention, as shown in FIG. 1 , includes a deflector assembly and a drive assembly, wherein:
所述导流板组件包括多个导流板1,该导流板1为曲面结构,多个导流板1且沿泵喷推进器的喷口外壁2周向设置。所述驱动组件包括多个驱动结构,该驱动结构与所述导流板1一一对应,多个驱动结构用于分别调整各导流板1相对于泵喷推进器的喷口出水平面的转动角度;从而将泵喷推进器与矢量控制机构结合,为泵喷式水下航行器提供全方位且大小可调的转向力。The deflector assembly includes a plurality of deflectors 1, the deflector 1 is a curved surface structure, and the plurality of deflectors 1 are arranged along the circumferential direction of the
进一步的,如图2所示,所述导流板1的板厚由底部向顶部逐渐由厚变薄;每个导流板底部外侧的两端和中部均设有铰链安装板,其中,中部的铰链安装板用于连接驱动组件,两端的铰链安装板则与喷口外壁2上对应位置的凸起连接,形成铰接的固定铰接点8。Further, as shown in FIG. 2 , the thickness of the deflector 1 gradually becomes thinner from the bottom to the top; both ends and the middle of the bottom of each deflector are provided with hinge mounting plates, wherein the middle The hinge mounting plate is used to connect the drive assembly, and the hinge mounting plates at both ends are connected with the protrusions at the corresponding positions on the
进一步的,所述导流板1共有四个,且两两对称布置在喷口外壁2上。Further, there are four guide plates 1 in total, and they are symmetrically arranged on the
进一步的,所述导流板1转动过程中彼此之间不发生干涉碰撞,且当四个导流板1向喷口内部转动至极限位置时,共同形成部分闭合的圆锥面;所述导流板1转动到极限位置时,其相对于喷口出水平面的转动角度为±30°。Further, there is no interference and collision with each other during the rotation of the baffles 1, and when the four baffles 1 rotate to the limit position inside the nozzle, a partially closed conical surface is formed together; the baffles 1 1 When it is rotated to the limit position, its rotation angle relative to the horizontal plane of the spout is ±30°.
进一步的,所述驱动结构包括依次连接的液压缸缸筒4、液压缸活塞杆5和传动连杆6,其中,所述液压缸缸筒4通过螺栓连接固定在液压缸安装座3上,液压缸安装座3通过螺栓连接安装在所述喷口外壁2上;所述传动连杆6底端与液压缸活塞杆5相连,传动连杆6顶端与导流板1底端中部的铰链安装板相连,形成铰接的活动铰接点7。具体的,液压缸安装位置须与对应导流板相匹配,液压缸缸筒与液压缸活塞杆的中心线必须与导流板中心对称线平行。Further, the driving structure includes a hydraulic cylinder cylinder 4, a hydraulic cylinder piston rod 5 and a transmission connecting rod 6 which are connected in sequence, wherein the hydraulic cylinder cylinder 4 is fixed on the hydraulic
进一步的,所述液压缸缸筒4在工作过程中保持固定,因此液压系统控制回路中可使用钢制油管,增加系统的安全性与可靠性。Further, the cylinder barrel 4 of the hydraulic cylinder is kept fixed during the working process, so a steel oil pipe can be used in the control circuit of the hydraulic system to increase the safety and reliability of the system.
进一步的,所述液压缸活塞杆5、传动连杆6和导流板1所组成的机构自由度为1,因此仅能通过控制液压缸活塞杆伸缩来控制导流板转动,活塞杆的伸缩量与导流板的转动角度一一对应,即液压缸活塞杆5的运动行程对应固定的导流板转动角度。Further, the degree of freedom of the mechanism composed of the hydraulic cylinder piston rod 5, the transmission connecting rod 6 and the deflector 1 is 1, so the rotation of the deflector can only be controlled by controlling the expansion and contraction of the hydraulic cylinder piston rod, and the expansion and contraction of the piston rod. The amount corresponds to the rotation angle of the baffle plate one-to-one, that is, the movement stroke of the piston rod 5 of the hydraulic cylinder corresponds to the fixed rotation angle of the baffle plate.
通过上述设计,本发明的矢量控制机构中各导流板可以转动实现任意角度的组合,为水下航行器提供任意方向的转向力,且转向力大小可控。导流板的转动角度大小影响其在该方向上所产生力的大小,四个导流板转动角度的比值决定矢量控制机构所产生的转向力的方向。Through the above design, each deflector in the vector control mechanism of the present invention can be rotated to realize any combination of angles, providing steering force in any direction for the underwater vehicle, and the magnitude of the steering force is controllable. The rotation angle of the deflector affects the force generated in this direction, and the ratio of the rotation angles of the four deflectors determines the direction of the steering force generated by the vector control mechanism.
上述矢量控制机构的操纵策略如图3所示,矢量输入信号向量的方向代表矢量控制机构所产生的转向力的方向;矢量输入信号向量的大小代表矢量控制机构所产生的转向力的大小。The steering strategy of the above-mentioned vector control mechanism is shown in Figure 3. The direction of the vector input signal vector represents the direction of the steering force generated by the vector control mechanism; the magnitude of the vector input signal vector represents the magnitude of the steering force generated by the vector control mechanism.
进一步的,因为转向力的矢量值范围在空间中表达为圆形,而矢量输入信号的输出矢量值为正方形,因此操纵区域存在一部分无效区,即死区。当矢量输入信号值位于无效区时,矢量控制机构所产生的矢量力大小恒为该方向上所能产生的最大值。Further, because the vector value range of the steering force is expressed as a circle in space, and the output vector value of the vector input signal is a square, there is a part of the invalid area, that is, the dead area, in the manipulation area. When the vector input signal value is in the invalid area, the vector force generated by the vector control mechanism is always the maximum value that can be generated in this direction.
操作人员在使用上述导流板式水下航行器矢量控制机构时,参照矢量控制机构的控制策略进行操作,具体步骤如下:When the operator uses the above-mentioned vector control mechanism of the deflector type underwater vehicle, the operation is carried out with reference to the control strategy of the vector control mechanism, and the specific steps are as follows:
(1)操作人员检查导流板与驱动机构是否完好,连接件有无松动。(1) The operator checks whether the deflector and the drive mechanism are in good condition, and whether the connecting parts are loose.
(2)操作人员启动液压装置与控制系统,检查控制信号与反馈信号是否正常。(2) The operator starts the hydraulic device and the control system to check whether the control signal and feedback signal are normal.
(3)矢量控制机构试运行,操作人员通过矢量信号输入工具控制导流板缓慢转动导流板检测其性能。(3) The vector control mechanism is in trial operation. The operator controls the deflector to slowly rotate the deflector through the vector signal input tool to detect its performance.
(4)准备就绪后方可开始操纵矢量控制机构。(4) The vector control mechanism can be manipulated only after it is ready.
本领域的技术人员容易理解,以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.
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