The design and application of a novel vectored thruster for special-shaped AUV

AUVs, as the primary platform, have significantly contributed to underwater surveys in scientific, and military fields. Enhancing the manoeuvrability of autonomous underwater vehicles is crucial for their development. A novel vectorial thruster is present in this paper. The thrust-vectoring mechanism of the novel vectorial thruster has two rotational degrees of freedom achieved by a linear actuator and a steering engine. The effectiveness of the AUVs is notably enhanced at low forward speeds with the specially designed thrust-vectoring mechanism. A theoretical analysis has been conducted to investigate and verify the kinematics of the thrust-vectoring mechanism. the spatial attitude control test and propulsive force test of the vectorial thruster are made to evaluate its performance. Finally, open-hoop control was applied to the control of a real SAUV, and experiments were conducted in a water tank The experimental results demonstrate that the performance of this type of vectorial thruster is acceptable, and the design is worthy of further research.自主水下航行器（Autonomous Underwater Vehicles，AUVs）作为核心作业平台，已在科学与军事领域的水下勘测工作中发挥了重要作用。提升AUV的机动性能，对其技术发展而言至关重要。本文提出了一种新型矢量推进器（vectorial thruster）。该新型矢量推进器的推力矢量机构（thrust-vectoring mechanism）具备两个旋转自由度，通过线性执行器（linear actuator）与转向舵机（steering engine）协同实现。采用该专属设计的推力矢量机构后，AUV在低前进航速下的机动效能得到显著提升。本文针对该推力矢量机构的运动学特性开展了理论分析，以探究并验证其运动规律。随后开展了该矢量推进器的空间姿态控制试验与推进力测试，以评估其综合性能。最后，将开环控制（open-hoop control）应用于实体半自主水下航行器（Semi-Autonomous Underwater Vehicle，SAUV）的控制，并在水槽中开展了相关试验。试验结果表明，该型矢量推进器的性能表现符合预期，其设计方案具备进一步研究的价值。

搜集汇总

背景与挑战

背景概述

该数据集涉及一种新型矢量推进器的设计和应用，专注于提高特殊形状自主水下航行器（AUV）的机动性，特别是在低速前向速度下。数据集包括推进器的理论分析、实验测试（如空间姿态控制和推进力测试）以及相关数据文件，旨在验证其性能并支持进一步研究。