基于螺旋桨与舵板配合的小型水下无人航行器的下潜过程研究

Research on the diving process of small underwater unmanned vehicle based on propeller and rudder plate coordination

摘要:

以小型水下无人航行器（UUV）为研究对象，本研究旨在探讨和分析关键参数变化对UUV下潜过程的影响，并采用控制变量法来研究单一因素对UUV下潜过程的影响。研究结果表明，在UUV行进过程中，水流对舵翼产生升力，从而产生扭矩促使其下潜。因此，在UUV下潜时，姿态应尽量平稳，且俯仰角和下潜深度不宜过大。为了确保UUV在逆流和复杂环境下成功下潜，要求在保留一定余量的基础上，尽可能减小舵板舵角和螺旋桨转速。本研究成果对进一步研究UUV下潜过程具有重要的参考价值。

Abstract:

This study focuses on small-scale underwater unmanned vehicles (UUVs) and aims to investigate and analyze the effects of key parameter variations on the UUV's diving process. The controlled variable method is employed to analyze the influence of a single factor on the UUV's diving process. The research findings indicate that during the UUV's propulsion, water flow generates lift on the rudder, resulting in a torque that causes the UUV to dive. Therefore, it is advisable to maintain a smooth attitude and avoid excessive pitch angle and diving depth during the UUV's descent. To ensure successful diving in adverse currents and complex environments, it is necessary to minimize the deflection angle of the rudder and the propeller speed, while retaining a certain margin. The achieved research outcomes have significant reference value for further investigations on the diving process of UUV.