本文提出一种PUS-PRS-S并联机构形式的螺旋桨矢量推进器。对矢量推进器进行具体的结构设计，使其能够很容易地作为一个整体安装在AUV尾部。建立矢量推进器的的运动学和动力学模型，通过数值计算与仿真，结果表明，设计的矢量推进器具有良好的运动性能，能够流畅地完成俯仰、偏摆运动。通过对推力矢量的分析，可知矢量推进器在AUV前进方向上始终能提供不低于75%的推力，在偏转方向上最大能提供50%的推力，且推力大小与AUV姿态和航速均无关。对比与传统的以鳍舵作为控制面的AUV，矢量推进AUV在慢速航行状态下具有更好的操纵性。
A vector thruster in the form of PPUS -PRS-S parallel mechanism is proposed. The vector thruster is designed so that it can be easily installed as a single unit in the AUV tail. The kinematics and dynamics models of vector thruster are established. The numerical calculation and simulation results show that the designed vector thruster has good motion performance and can smoothly complete the pitch and yaw motion. Through the analysis of the thrust vector, it can be seen that the vector thruster can always provide no less than 75% thrust in the forward direction of AUV, and the maximum 50% thrust in the deflection direction, and the thrust magnitude is independent of the attitude and speed of AUV. Compared with the traditional AUV with fin rudder as the control surface, the vector propulsion AUV has better maneuverability under slow sailing conditions
2024,46(7): 74-80 收稿日期：2023-4-23
DOI：10.3404/j.issn.1672-7649.2024.07.013
分类号：U664.3
作者简介：陈修宇(1998-),男,硕士研究生,研究方向为水下机器人结构
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