Longitudinal handling stability of vectored thrust underwater vehicle without fin and rudder

被引：0
|
作者：
Zhang R. [1 ]
Chen Y. [1 ]
Gao J. [1 ]
机构：
[1] School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai
来源：
Chen, Yuan (cyzghysy@sdu.edu.cn) | 1600年 / Editorial Board of Journal of Harbin Engineering卷 / 38期
关键词：
Disturbance model; Dynamics; Handling stability; Parallel mechanism; Underwater vehicle; Vectored thrust;
D O I：
10.11990/jheu.201509089
中图分类号：
学科分类号：
摘要：
A single-mechanism vectored thrust approach without fin and rudder was proposed to improve the maneuverability of an underwater vehicle running at low speed. A new vectored thruster based on spherical parallel mechanism was applied to an underwater vehicle, and a six degrees-of-freedom kinematic model in the form of spinor was established. With the two-dimensional rotation angle of the thrust vectoring as the target, the vector thrust was decomposed, and the three-dimensional scaling factor was derived. A dynamic model of the vectored thruster was established on the basis of Newton-Euler method. In addition, with the scaling factor of thrust vectoring as an input, Laplace transformation was employed to establish the disturbance model along the vertical direction in a complex domain, and the dimensionless stability margin of vectored thrust based on the disturbance model was proposed. Numerical simulations were performed to verify the effectiveness and stability of the vectored thrust mode without fin and rudder. © 2017, Editorial Department of Journal of HEU. All right reserved.
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页码：133 / 139and152
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