Investigating the vibration characteristics of vector thrusters under complex inclination angle variations

Abstract

ABSTRACT As autonomous underwater vehicles advance, the study of design and dynamic characteristics of vector thrusters is of significant engineering importance. In this paper, the mechanical model based on a vector thruster with a universal joint is established, followed by the analysis of its vertical torsional coupled vibration across different modes of inclination angle variations. Then, a simulated calculation of dynamic characteristics is carried out by the Newmark method. Finally, following the introduction of several structure parameters, the characteristics of vertical and torsional vibrations of the driven shaft under impact load are studied. The results show that the increase in the stiffness ratio can reduce not only the amplitude of angular displacement but also the stability time of vibration. The combinations of inclination angles should be selected preferentially, and the action value of actuators must be reasonably adjusted to ensure the inclination angle ratio remains as small as possible in the thruster control.