Development and Evaluation of a Vectored Water-jet-based Spherical Underwater Vehicle

作者：Lin Xichuan^*; Guo Shuxiang; Tanaka Koujirou; Hata Seji

来源：Information-An International Interdisciplinary Journal, 2010, 13(6): 1985-1998.

• Water-jet
• Incoming Angle(IA)
• Propulsion System
• Vector Synthesis
• Force Distribution

This paper presents a spherical underwater vehicle which uses three vectored water-jet propulsion systems. In this paper, firstly, we proposed the concept of a vectored water-jet based spherical underwater vehicle. Then we introduced the conceptual design of this underwater vehicle. The working principles of the vectored water-jet propellers are illustrated including the transformation of reference frames, the distribution of propellers and the composition of vectored propel forces. Thirdly, the modeling of water-jet propellers is discussed. For precise dynamics modeling, the flow velocity and incoming angle of flow are taken into account. Finally, we made an underwater experiment to evaluate the availability of this kind of design of spherical underwater vehicle. The advantages and disadvantages of this spherical underwater vehicle are also discussed in this paper.

• 出版日期2010-11