Pump jet vectoring thruster and control method

Abstract

The application discloses a pump-jet vector propeller and a control method, and belongs to the technical field of pump-jet propulsion.The pump-jet vector propeller comprises a guide pipe and a vector auxiliary propulsion module integrated in the circumferential direction of the outlet end of the guide pipe.The vector auxiliary propulsion module is a linkage type telescopic structure, which comprises a main telescopic module and a passive telescopic module linked with the main telescopic module.The change of the direction of the jet tail flow is realized by controlling the extension amount of the main telescopic module and driving the passive telescopic module to extend in linkage.The pump-jet vector propeller of the application does not occupy the internal space of the underwater vehicle by virtue of the blade telescopic mechanism (the vector auxiliary propulsion module) integrated in the guide pipe, changes the local length of the guide pipe, realizes the vector control of the direction of the jet tail flow, solves the shortcoming that the tail flow of the traditional pump-jet propeller can only be straightly jetted, produces an additional turning torque for the obliquely jetted tail flow, and achieves the purpose of assisting the vehicle to turn, thereby improving the maneuverability of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of pump-jet propulsion technology, specifically relating to a pump-jet vector thruster and its control method. Background Technology

[0002] More and more people are paying attention to the design and development of underwater vehicles. The performance of an underwater vehicle's propulsion system has a crucial impact on its overall performance. An advanced propulsion system affects the maneuverability of the entire vehicle. And for underwater equipment, the propulsion performance of the thruster affects its survivability.

[0003] Currently, the most advanced propulsion system in the world is the pump-jet propulsion system. Pump-jet propulsion systems are typically composed of a rotor, stator, and duct. Compared with conventional propeller propulsion systems, they have advantages such as high efficiency and low noise, and are widely used in torpedoes and strategic submarines.

[0004] Currently, pump-jet propulsion systems employ two main drive methods: traditional mechanical transmission pump-jet and integrated motor shaftless pump-jet. Regardless of the drive method, the direction of the exhaust jet from a pump-jet propulsion system remains constant. When applied to torpedoes or submarines, maneuvering can only be achieved using rudders on the hull. In emergency situations, for submarines, relying solely on rudders to avoid underwater obstacles or quickly maneuver away from a designated area is insufficient for effective hazard avoidance. For underwater vehicles, when exposed and the target is fleeing, relying solely on rudders to maneuver and engage the target in a timely manner significantly reduces the accuracy of hitting the target.

[0005] In summary, existing pump-jet propulsion systems cannot yet achieve vector propulsion and assist in rapid maneuvering. Therefore, researching vector propulsion methods for pump-jet propulsion systems is of great significance. Summary of the Invention

[0006] The technical problem to be solved:

[0007] To overcome the shortcomings of existing technologies, this invention provides a pump-jet vector thruster and its control method. The pump-jet vector thruster integrates a vector-assisted propulsion module circumferentially at the duct outlet end. This module is a linked, retractable structure composed of an active telescopic module and a passive telescopic module. By adjusting the lengths of the active and passive telescopic modules extending out of the duct, the direction and velocity of the pump-jet jet's wake can be altered, thus assisting the vehicle in steering. This invention solves the problem of insufficient maneuverability of submarines, torpedoes, and other underwater vehicles in emergency situations.

[0008] The technical solution of the present invention is: a pump-jet vector thruster, characterized in that: it includes a duct and a vector auxiliary propulsion module integrated in the circumferential direction of the duct outlet end. The vector auxiliary propulsion module is a linkage telescopic structure, including an active telescopic module and a passive telescopic module that is linked with the active telescopic module. By controlling the extension amount of the active telescopic module, the passive telescopic module is driven to extend in linkage, thereby changing the direction of the jet wake.

[0009] A further technical solution of the present invention is as follows: multiple active telescopic modules and passive telescopic modules are arranged circumferentially. When a local active telescopic module is extended, it drives the passive telescopic modules on both sides to gradually extend. The extension amount of the passive telescopic modules gradually decreases from the active telescopic module that is close to it to the active telescopic module that is far away from it, thus completing the change in the direction of the water jet. When all active telescopic modules are extended, they drive all passive telescopic modules to extend, causing the cross-sectional area of ​​the duct nozzle to change, thus completing the change in the water jet velocity.

[0010] A further technical solution of the present invention is: the conduit includes an inner conduit and an outer conduit fitted on the outer circumferential surface of the outlet end of the inner conduit. An open annular cavity is provided between the mounting surfaces of the inner and outer conduits, and the opening direction of the annular cavity faces the jet direction. The annular cavity is used to install the active telescopic module and the passive telescopic module, and its open end serves as the telescopic guide channel for the active telescopic module and the passive telescopic module.

[0011] A further technical solution of the present invention is as follows: the active telescopic module includes a telescopic drive component, which is installed in an annular cavity between the inner and outer conduits. A blade is installed at its output end, and the blade extends out from the opening of the annular cavity. The telescopic drive component controls the blade to telescopically move along the inner surface of the outer conduit. A limiting platform is provided at the root of the blade facing the inner conduit. A limiting step surface opposite to the limiting platform is provided on the side of the inner conduit located in the annular cavity. A spring is installed between the limiting platform and the limiting step surface, and is limited and guided by a spring rod installed on the limiting platform. The telescopic blade is composed of the blade, the spring, and the spring rod.

[0012] A further technical solution of the present invention is: the telescopic drive component is a linear motor for driving the blade to telescopically extend and retract. The linear motor is installed on the inner wall of the annular cavity, and its output shaft is parallel to the jet direction and fixedly connected to the root of the blade.

[0013] A further technical solution of the present invention is: a guide groove for a spring rod is opened on the inner side of the limiting step surface of the inner guide tube. The guide groove is parallel to the jet direction. When the linear motor drives the blade to extend and retract, the spring is compressed and the spring rod slides in the guide groove.

[0014] A further technical solution of the present invention is: the passive telescopic module includes a plurality of telescopic blades arranged circumferentially along both sides of the active telescopic module, the structure of which is consistent with the structure of the telescopic blades of the active telescopic module; the blades of the passive telescopic module and the blades of the active telescopic module are connected in a circumferential series, and the extension and retraction of the blades of the active telescopic module drives the blades of the passive telescopic modules on both sides to gradually extend or retract from the front to the back.

[0015] A further technical solution of the present invention is: the circumferential series connection is achieved by a linkage mechanism, the linkage mechanism includes a blade shaft fixed at the root of the blade, the center line of the blade shaft is arranged along the circumference of the guide tube, and its two ends are respectively connected to the adjacent blade shaft by elastic springs, and the connection between the blade shaft and the elastic springs is fixed by rivets.

[0016] A further technical solution of the present invention is: four active telescopic modules are arranged at four quadrant points in the circumference of the duct, and four sets of passive telescopic modules are arranged in the four quadrants in the circumference, with the wedge-shaped inclined surfaces of adjacent blade edges fitting together.

[0017] A control method for a pump-jet vector thruster, characterized by the following specific steps:

[0018] Detecting targets or obstacles using detection equipment carried by underwater vehicles;

[0019] Based on the state of the target or obstacle, the main control system issues instructions to pursue or evade.

[0020] After receiving the command, the underwater vehicle's execution module translates the command into control of the pump-jet vector thruster;

[0021] When the aircraft needs to make a rapid turn, the extension and retraction states of each active telescopic module of the pump-jet vector thruster are controlled to change the axial length of different positions in the circumferential direction of the duct, thereby changing the direction of the ejected wake. The ejected oblique flow generates torque to assist the aircraft in turning.

[0022] When a vehicle needs to increase its speed, all active telescopic modules of the pump-jet vector thruster are extended, making the nozzles of the pump-jet vector thruster smaller, increasing the jet speed of the water, and the reaction force of the water gives the vehicle a higher speed.

[0023] Beneficial effects

[0024] The beneficial effects of this invention are as follows: This pump-jet vector thruster, by means of a blade telescopic mechanism (vector-assisted propulsion module) integrated inside the duct, does not occupy the internal space of the underwater vehicle. It alters the local length of the duct, thereby achieving vector control of the ejected wake direction. This overcomes the limitation of traditional pump-jet thrusters where the wake can only be directed straight. The obliquely ejected wake generates an additional turning torque, thus assisting the vehicle's maneuverability and improving its maneuverability. Simultaneously, when the linear motors at the four quadrant points operate together, the nozzle diameter of the pump-jet thruster can be reduced, thereby decreasing the nozzle area and increasing the ejection velocity. This can improve the vehicle's maximum speed; for every 10% reduction in nozzle area, the ejection velocity will increase by more than 10%, based on... Q is the flow rate, and S is the nozzle area. Attached Figure Description

[0025] Figure 1 This is a partial axial cross-sectional view of a pump-jet vector thruster;

[0026] Figure 2 A partial view of the axial section of the pump-jet vector thruster;

[0027] Figure 3 Axonometric view of the blade telescoping system integrated inside the duct;

[0028] Figure 4 This is a partially enlarged isometric view of the blade telescoping system integrated inside the duct.

[0029] Figure 5 Axonometric view of a pump-jet vector thruster with the external duct removed;

[0030] Figure 6 Axonometric view of a pump-jet vector thruster;

[0031] Figure 7 This is a diagram of a pump-jet vector thruster.

[0032] Explanation of reference numerals in the attached diagram: 1 Inner guide tube, 2 Linear motor, 3 Blade, 4 Spring, 5 Spring rod, 6 Outer guide tube, 7 Rotor, 8 Blade shaft, 9 Elastic spring, 10 Rivet. Detailed Implementation

[0033] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Since existing pump-jet propulsion systems cannot achieve vector propulsion and assist in rapid maneuvering, this invention provides a pump-jet vector propulsion system with a vector-assisted propulsion module and a control method. The pump-jet vector propulsion system includes a duct and a vector-assisted propulsion module integrated circumferentially at the duct outlet. The vector-assisted propulsion module is a linked, retractable structure, including an active retractable module and a passive retractable module linked to the active retractable module. By controlling the extension of the active retractable module, the passive retractable module extends in tandem, thereby changing the direction of the ejected wake. This invention, by adjusting the extension lengths of the active and passive retractable modules from the duct, changes the direction and velocity of the pump-jet ejected wake, assisting the vehicle in steering and overcoming the shortcomings of existing technologies in terms of insufficient maneuverability of submarines, torpedoes, and other underwater vehicles in emergency situations. The specific solution is as follows:

[0036] Multiple active and passive telescopic modules are arranged circumferentially. When a local active telescopic module is extended, it causes the passive telescopic modules on both sides to extend gradually. The extension amount of the passive telescopic modules gradually decreases from the active telescopic module that is closer to it to the active telescopic module that is farther away from it, thus changing the direction of the water jet. When all active telescopic modules are extended, they cause all passive telescopic modules to extend, which causes the cross-sectional area of ​​the nozzle in the duct to change, thus changing the water jet velocity.

[0037] The conduit includes an inner conduit 1 and an outer conduit 6 fitted onto the outer circumferential surface of the outlet end of the inner conduit. An open annular cavity is provided between the mounting surfaces of the inner and outer conduits, and the opening direction of the annular cavity faces the jet direction. The annular cavity is used to install the active telescopic module and the passive telescopic module, and its open end serves as the telescopic guide channel for the active telescopic module and the passive telescopic module.

[0038] Reference Figure 1 and Figure 2As shown, the active telescopic module includes a telescopic drive component. This drive component is installed in an annular cavity between the inner and outer conduits. A blade is mounted at its output end, extending from the opening of the annular cavity. The telescopic drive component controls the blade to telescopically extend along the inner surface of the outer conduit. A limiting platform is provided at the root of the blade facing the inner conduit. The inner conduit, located on the annular cavity side, has a limiting step surface opposite to the limiting platform. A spring 4 is installed between the limiting platform and the limiting step surface, and is limited and guided by a spring rod 5 mounted on the limiting platform. A guide groove for the spring rod 5 is formed on the inner side of the limiting step surface of the inner conduit. The guide groove is parallel to the jet direction. When the linear motor drives the blade to telescopically extend or retract, the spring is compressed, and the spring rod slides within the guide groove. The telescopic blade is composed of the blade 3, the spring 4, and the spring rod 5.

[0039] Specifically, the telescopic drive is a linear motor 2 that drives the blade to extend and retract. The linear motor 2 is installed on the inner wall of the annular cavity, and its output shaft is parallel to the jet direction and fixedly connected to the root of the blade 3.

[0040] The passive telescopic module includes multiple telescopic blades arranged circumferentially along both sides of the active telescopic module. The structure of the telescopic blades is consistent with that of the telescopic blades of the active telescopic module. The blades of the passive telescopic module and the blades of the active telescopic module are connected in a circumferential series. The extension and retraction of the blades of the active telescopic module drives the blades of the passive telescopic modules on both sides to gradually extend or retract from the front to the back.

[0041] Reference Figure 3 and Figure 4 As shown, the circumferential series connection is achieved through a linkage mechanism, which includes a blade shaft 8 fixed at the root of the blade. The centerline of the blade shaft 8 is arranged along the circumference of the guide tube, and its two ends are respectively connected to the adjacent blade shaft 8 through elastic springs 9. The connection between the blade shaft 8 and the elastic springs 9 is fixed by rivets 10.

[0042] Reference Figure 5 and Figure 6 As shown, the four active telescopic modules are arranged at the four quadrant points in the circumference of the duct, and the four sets of passive telescopic modules are arranged in the four quadrants in the circumference, with the wedge-shaped inclined surfaces of the adjacent blade edges fitting together.

[0043] The above technical solution will be further explained below with reference to examples and accompanying drawings.

[0044] To assist underwater vehicles in rapid maneuvering, this embodiment provides a pump-jet vectoring thruster, such as... Figures 1 to 7 As shown, it includes inner and outer ducts, a rotor, and a vector-assisted propulsion module integrated inside the ducts, namely the blade telescoping system.

[0045] The conduit includes an inner conduit 1 and an outer conduit 6. A linear motor 2 is installed inside the inner conduit 1, with its other end connected to a blade shaft 8 fixed to a blade 3. A spring 4 and a spring rod 5 are assembled together and placed in a slot between the blade 3 and the inner conduit 1. The outer conduit 6 is welded to the outer circumference of the inner conduit 1. Adjacent blades are connected to the blade shaft via elastic springs 9 and rivets 10. There are four linear motors in total, distributed at four quadrant points on the circumference of the annular wall of the inner conduit 1.

[0046] The inner profile of the inner duct 1 is derived from the design principle of the pump-jet propulsion system. The outer profile of the inner duct 1 is the same as that of the outer duct 6, and the diameter of the outer profile of the inner duct gradually decreases from the blade mounting position to the tail end of the duct. The inner duct 1 is provided with a boss, a spring groove, and a spring rod hole. The boss cooperates with the blade 3 to guide and position the blade's extension and retraction. At the same time, the boss connects with the outer duct 6 to provide support for the outer duct 6. The spring groove and spring rod groove in the inner duct 1 are designed to provide movement space for related components as the blade extends and retracts.

[0047] The blade 3 is arc-shaped along the direction of movement and has the same linearity as the outer guide tube 6. The blade 3 has a slot and a mounting seat. The slot of the blade 3 is clearance-fitted with the boss of the inner guide tube 1. The mounting seat of the blade 3 has a shaft hole and a blind hole. The shaft hole mates with the blade shaft 8, and the shaft hole and the blade shaft 8 can rotate. The blade shaft 8 is riveted to the blade 3 by rivets 10 and elastic springs 9. The other end of the elastic spring 9 is riveted to the adjacent blade of the blade 3 by rivets 10. A spring rod 5 is installed at the blind hole and a spring 4 is inserted into it. The other end of the spring rod 5 is inserted into the spring rod hole of the inner guide tube 1. The two sides of the blade cross-section are wedge-shaped structures with opposite inclination directions, so that the fit gap between adjacent blades is minimized to prevent fluid leakage from the gap during the operation of the pump-jet vector thruster.

[0048] The above only describes the assembly of components for one blade telescopic mechanism. The assembly of the remaining blades is similar. The linear motor only needs to be installed at the four quadrant points on the circumference of the guide tube and assembled with the blades at the four quadrant points.

[0049] When the rotor of the pump-jet propulsion unit is running, water is ejected from the outlet of the duct. The linear motor drives the blades to extend, and at the same time, it drives other blades to move in the same direction through the elastic springs. Due to the reaction force of the spring on the spring rod installed between the blades and the duct, the elastic springs on the blade shaft connecting each blade are deformed, causing the length of the blades not driven by the linear motor to extend out of the duct to decrease sequentially. Each blade with a different extension length changes the direction of the jet flow at the tail of the duct.

[0050] In this embodiment, the inner conduit 1 is provided with thirty circular spring rod slots and thirty spring slots inside, and four linear motor mounting holes are provided on the circumference of the annular wall of the inner conduit.

[0051] The blades, numbered 30, are made of a tough material and possess a certain deformation capability along the cavity wall formed by the inner and outer guide tubes. The curvature of the blades matches the external profile of the guide tubes. A groove is formed in the middle of each blade to mate with a protrusion on the inner guide tube. The blade cross-section is wedge-shaped, with both wedge-shaped inclined surfaces having the same inclination angle, and the wedge-shaped inclined surfaces fit snugly against the wedge-shaped inclined surfaces of adjacent blades. A mounting base is provided at the front end of each blade, and the mounting base has a shaft hole, a ball joint groove, and a blind hole groove.

[0052] The blade shaft 8 is installed and fixed in the shaft hole of the blade, and is fixed by the shaft shoulder and the elastic retaining ring. The number of blade shafts is the same as the number of blades. The feature is that there are rivet holes at both ends. The cylindrical surfaces at both ends of the rivet holes are cut into flat surfaces and are riveted to the elastic spring by rivets.

[0053] The elastic spring 9 is riveted to the blade shaft 8 by rivets, and the number of rivets is the same as that of the blade shaft. The elastic spring 9 can produce elastic deformation along its thin wall direction.

[0054] The number of spring rods 5 is the same as the number of blades 3. They have a certain elastic deformation capacity and a certain toughness. One end of the spring rod 5 is installed in the blind hole groove on the blade 3, and the other end is placed in the circular spring rod groove inside the guide tube without being fixed.

[0055] The number of springs 4 is the same as the number of spring rods 5. They are fitted onto spring rods 5 and installed between blades 3 and guide tubes, and are pressed by linear motor 2.

[0056] Linear motor 2 is distributed at four quadrant points on the annular wall of the duct, and the top of its telescopic rod is ball-shaped and hinged to the ball groove on the blade.

[0057] Work process:

[0058] When only linear motor 2, i.e., the motor at the upper quadrant point of the duct circumference, extends, the blade 3 connected to linear motor 2 extends along with it. At this time, the spring 4 of the blade is compressed, and the spring rod 5 further extends into the spring rod groove in the inner duct. Simultaneously, the blade shaft 8 of the blade moves with blade 3. When the blade shaft 8 moves forward, it drives the elastic spring 4 forward. Since the other end of the elastic spring 4 is riveted to the adjacent blade, it moves with the adjacent blade, causing the springs on the adjacent blades to compress. At this time, the springs on the adjacent blades will generate a reaction force, causing the elastic spring 9 to bend. This results in the adjacent blade extending out of the duct for a shorter length than the blade with linear motor 2. Similarly, the blades farther away from the moving linear motor 2 have progressively shorter lengths extending out of the duct, until the length is the same as the length when the motor is not working. At this time, the direction of the ejected tailflow changes, and the ejection direction is obliquely downward, such as... Figure 7 As shown.

[0059] Similarly, when only the motor at the lower quadrant point of the duct circumference extends, the blades connected to the motor at the lower quadrant point of the duct circumference extend the longest, while the blades farther from the motor extend the shortest. At this time, the jet wake changes, and the jet direction is obliquely upward.

[0060] Similarly, when only the motor at the left quadrant point of the duct circumference extends, the blades connected to the motor at the left quadrant point of the duct circumference extend the longest, while the blades farther from the motor extend the shortest. At this time, the jet wake changes, and the jet direction is oblique to the right.

[0061] Similarly, when only the motor at the right quadrant point of the duct circumference extends, the blades connected to the motor at the right quadrant point of the duct circumference extend the longest, while the blades farther from the motor extend the shortest. At this time, the jet wake changes, and the jet direction is oblique to the left.

[0062] When multiple motors work together, the jet exhaust can be directed in any direction perpendicular to the drive shaft plane. When four linear motors work together, the diameter of the jet nozzle can be reduced, increasing the velocity of the ejected fluid.

[0063] The specific steps of the control method for a pump-jet vector thruster in this embodiment are as follows:

[0064] Step 1: The underwater vehicle's sonar and other detection equipment detect the target object;

[0065] Step 2: Based on the state of the target, the autonomous control system of the aircraft or the operator decides whether to pursue or evade the target.

[0066] Step 3: After the pursuit or evasion command is issued, if a rapid turn is to be achieved, the control system, in addition to controlling the rudder, controls the four linear motors of the pump-jet vector thruster to extend, retract, or remain unchanged, thereby changing the length of the blades extending from the duct, and ultimately changing the direction of the jet wake. The jet of oblique flow generates torque to assist the aircraft in turning.

[0067] Step 4: After the pursuit or evasion command is issued, if you want to increase the speed of the vehicle, control the four linear motors to extend, so that the blades extend the duct length, thereby making the nozzle of the pump-jet vector thruster smaller, increasing the jet speed of the water flow, and the reaction force of the water flow makes the vehicle achieve a higher speed.

[0068] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A pump-jet vectoring thruster, characterized in that: It includes a catheter and a vector-assisted propulsion module integrated circumferentially at the catheter outlet end. The vector-assisted propulsion module is a linked telescopic structure, including an active telescopic module and a passive telescopic module linked with the active telescopic module. By controlling the extension amount of the active telescopic module, the passive telescopic module is driven to extend in conjunction, thereby changing the direction of the jet tail. Multiple active and passive telescopic modules are arranged circumferentially. When a local active telescopic module is extended, it causes the passive telescopic modules on both sides to extend gradually. The extension amount of the passive telescopic modules gradually decreases from the active telescopic module that is close to it to the active telescopic module that is far away from it, thus changing the direction of the water jet. When all active telescopic modules are extended, they cause all passive telescopic modules to extend, which causes the cross-sectional area of ​​the nozzle to change, thus changing the water jet velocity. The conduit includes an inner conduit and an outer conduit fitted onto the outer circumferential surface of the outlet end of the inner conduit. An open annular cavity is provided between the mounting surfaces of the inner and outer conduits, and the opening direction of the annular cavity faces the jet direction. The annular cavity is used to install the active telescopic module and the passive telescopic module, and its open end serves as the telescopic guide channel for the active telescopic module and the passive telescopic module. The active telescopic module includes a telescopic drive component, which is installed in an annular cavity between the inner and outer conduits. A blade is installed at its output end, extending from the opening of the annular cavity. The telescopic drive component controls the blade to telescopically move along the inner surface of the outer conduit. A limiting platform is provided at the root of the blade facing the inner conduit. The inner conduit, located on the annular cavity side, has a limiting step surface opposite to the limiting platform. A spring is installed between the limiting platform and the limiting step surface, and is limited and guided by a spring rod installed on the limiting platform. The telescopic blade is composed of the blade, the spring, and the spring rod. The telescopic drive is a linear motor that drives the blade to extend and retract. The linear motor is installed on the inner wall of the annular cavity, and its output shaft is parallel to the jet direction and fixed to the root of the blade. The inner guide tube has a guide groove for the spring rod on the inner side of the limiting step surface. The guide groove is parallel to the jet direction. When the linear motor drives the blade to extend or retract, the spring is compressed and the spring rod slides in the guide groove.

2. The pump-jet vectoring thruster according to claim 1, characterized in that: The passive telescopic module includes multiple telescopic blades arranged circumferentially along both sides of the active telescopic module. The structure of the telescopic blades is consistent with that of the telescopic blades of the active telescopic module. The blades of the passive telescopic module and the blades of the active telescopic module are connected in a circumferential series. The extension and retraction of the blades of the active telescopic module drives the blades of the passive telescopic modules on both sides to gradually extend or retract from the front to the back.

3. The pump-jet vectoring thruster according to claim 2, characterized in that: The circumferential series connection is achieved through a linkage mechanism, which includes a blade shaft fixed at the root of the blade. The centerline of the blade shaft is arranged along the circumference of the guide tube, and its two ends are respectively connected to the adjacent blade shaft through elastic springs. The connection between the blade shaft and the elastic springs is fixed by rivets.

4. The pump-jet vectoring thruster according to claim 3, characterized in that: The four active telescopic modules are arranged at the four quadrant points in the circumference of the duct, and the four sets of passive telescopic modules are arranged in the four quadrants in the circumference, with the wedge-shaped inclined surfaces of adjacent blade edges fitting together.

5. A control method for a pump-jet vector thruster according to any one of claims 1-4, characterized in that... The specific steps are as follows: Detecting targets or obstacles using detection equipment carried by underwater vehicles; Based on the state of the target or obstacle, the main control system issues instructions to pursue or evade. After receiving the command, the underwater vehicle's execution module translates the command into control of the pump-jet vector thruster; When the aircraft needs to make a rapid turn, the extension and retraction states of each active telescopic module of the pump-jet vector thruster are controlled to change the axial length of different positions in the circumferential direction of the duct, thereby changing the direction of the ejected wake. The ejected oblique flow generates torque to assist the aircraft in turning. When a vehicle needs to increase its speed, all active telescopic modules of the pump-jet vector thruster are extended, making the nozzles of the pump-jet vector thruster smaller, increasing the jet speed of the water, and the reaction force of the water gives the vehicle a higher speed.

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