针对大型水下航行器的大通径矢量推进器喷管全方位操纵需求，提出喷口具备全向偏转功能的一个四关节串联机构的实现方案。结合该机构所具有的冗余自由度的特点，以关节旋转角度范围为约束条件，关节角度单位增量最小为目标，提出一种求解关节角的“拟合-寻解”局部最优算法。以一组关节间端面夹角依次为15°，?30°，30°，?15°的四关节串联式喷管配置参数为例，基于本求解算法得到了实现喷口全方位摆动控制的各关节角的控制面。分析表明，这种四关节型式可以满足水下矢量推进的全方位摆动要求，同时具备避免关节运动范围超限的能力。该研究结果可为此类机构在大型矢量推进器上的应用提供理论依据和分析方法。
In order to meet the requirements for full-range operation of large-diameter vector nozzles for large underwater vehicles, a multi-joint serial mechanism with full range of swing capabilities is proposed. In order to address the characteristics of the redundant-degree-of-freedom of this mechanism, a "fit-and-solve" locally optimal algorithm is proposed for calculating joint angles with the range of joint rotation angles as the limit and the minimum joint angle increment as the objective. A set of parameters for a four-joint serial nozzle configuration with individual joint end face angles of 15°, ?30°, 30° and ?15° are used as an example, the control surface for each joint angle to achieve full range swing control of the nozzle is obtained based on this algorithm. The results of this paper can provide a theoretical basis and analysis method for the research and application of such mechanisms to large vector thrusters.
2022,44(8): 35-38 收稿日期：2021-08-16
DOI：10.3404/j.issn.1672-7649.2022.08.007
分类号：U664.3
作者简介：宋师伟(1997-),男,硕士研究生,研究方向为机构运动控制
参考文献：
[1] 吕雪燕, 罗艳春, 蒋晓莲. 推力矢量技术的应用及影响[J]. 科技资讯, 2012(5):118
[2] 张帅, 肖晶晶. 水下矢量推进器研究综述[J]. 舰船科学技术, 2019, 41(7):5-9
ZHANG Shuai, XIAO Jing-jing. Review of underwater vector propulsion devices[J]. Ship Science and Technology, 2019, 41(7):5-9
[3] 徐瀚. 水下机器人矢量推进机构的构型综合与动力学建模[D]. 济南:山东大学, 2017.
[4] 李研彪, 徐涛涛, 郑航, 等. 含球面副间隙的空间并联机构动态特性[J]. 浙江大学学报(工学版), 2020, 54(2):348-356.
[5] 张雷, 徐海军, 邹腾安, 等. 嵌套Z轴式水下矢量推进系统建模与特性分析[J]. 浙江大学学报(工学版), 2020, 54(3):450-458+482.
ZHANG Lei, XU Hai-jun, ZOU Teng-an, et al.Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts[J]. Journal of Zhejiang University (Engineering Science), 2020, 54(03):450-458+482.
[6] 方世鹏. 水下矢量推进螺旋桨装置设计与研究[D]. 长沙:国防科学技术大学, 2008.
[7] 张凯, 叶金铭. 矢量泵喷推进器水动力性能[J]. 船舶工程, 2019, 41(4):36-41+144.
ZHANG Kai, YE Jin-ming. Hydrodynamic performance of vectorial pump-jet propulsor[J]. Ship Engineering. 2019, 41(04):36-41+144.
[8] 齐云鹤. 两自由度水下对接转裙研究[D]. 哈尔滨:哈尔滨工程大学, 2009.
[9] 王向阳, 周继红, 刘凯, 等. 三轴承推力矢量喷管运动学建模及试验[J]. 航空学报, 2014, 35(4):911-920
[10] 吴鹏, 洪娟, 陈广, 等. 串联冗余自由度机构关节角位置的规划算法[J]. 哈尔滨工程大学学报, 2017, 38(10):1623-1629,1641
WU Peng, HONG Juan, CHEN Guang, et al. Joints position planning approach for series redundant DOF mechanisms[J]. Journal of Harbin Engineering University, 2017, 38(10):1623-1629,1641
