水面仿生矢量推进器倒车性能分析

针对两栖平台倒车机构复杂、性能研究难以开展的问题，基于水面仿生矢量推进器，提出了一种倒车方式。设计了新型两栖平台，通过推进器反向转动输出倒车拉力，实现了平台0.7 m/s 速度的直线倒行和0.75 m小半径的转弯倒行，提供了更为快速灵活的倒车方式；建立了推进器流体动力学模型，结合下压力、倒车拉力和转矩三维驱动的周期性输出规律，分析轮轴高度、轮辐长度、转速和叶片夹角对推进器倒车性能的影响，扩展了平板旋转绕流的研究；建立敞水试验系统，验证了数值计算模型的正确性。结果表明：随着推进器轮轴高度增加，转矩单调递减；下压力和倒车拉力随着轮辐长度线性变化，转矩与轮辐长度呈二次函数关系；随着转速提高，三维输出单调递增。研究结果为两栖平台倒车控制提供了理论参考依据。

Analysis of Astern Moving Performance of Bionic Water-surface Vector Propeller

For the complex astern moving structure of amphibious platform and its performance study, a new mode of astern moving is presented based on the water-surface bionic vector propeller, and a new amphibious platform is designed. The straight astern moving of 0.7 m/s and the astern steering of small-radius of about 0.75 m are realized by rotating the propeller reversely. A fluid dynamics model of propeller is set up to analyze the influences of height, spoke length, rotational velocity and blade angle on three-dimensional output performance of astern moving with periodic output. So the study of the flow due to rotating of flat plates is further enriched. And the calculation model is validated by using the open water test system of vector propeller. The results show that the turning moment decreases with the increase in height of propeller axle; the down push force and drag force are linear with the spoke length, and the turning moment is quadratic functions to spoke length; and three-dimensional driving outputs increase with the increase in rotational velocity of propeller.