62 results about "Ducted propeller" patented technology

The invention relates to the technical field of ducted propeller devices, and discloses a water-air integrated propelling device and a cross-medium aircraft, the water-air integrated propelling device comprises a shell, the shell is provided with a main channel, a lifting channel, an air inlet channel and a water inlet channel, the lifting channel, the air inlet channel and the water inlet channel are communicated with the main channel, and the main channel and the air inlet channel are coaxially located on the same plane; the lifting channel and the water inlet channel are located below the main channel, and the air inlet channel and the water inlet channel can be closed; the power device is slidably connected with the shell, and the power device can be switched between the main channel and the exterior of the shell through the lifting channel; according to the cross-medium aircraft, the working state can be rapidly switched according to task requirements, the cruising ability of the cross-medium aircraft in different medium environments is improved to the maximum extent, and the practicability and performance of the cross-medium aircraft in diversified application scenes are enhanced.

The application discloses a design method of a ducted propeller, comprising the following steps: S1, clearly defining design conditions and initial design parameters; the design conditions comprise tension T generated by the duct and the propeller, and working speed n of the propeller; the initial design parameters comprise propeller diameter D, propeller-duct clearance δ and airfoil; S2, designing the propeller diameter D; S3, designing the propeller-duct clearance δ; S4, designing the airfoil; the prerequisite of parameterization of the propeller blade is to determine an airfoil family used by the propeller blade and a radial position, and to keep constant the chord lengths of a wing root, a middle part of the wing and a wing tip, and the duct; under the prerequisite, the airfoils of the wing root, the middle part of the wing and the wing tip section are determined through a CST type function; except the wing root and the wing tip, the negative torsion angles of 3-7 sections of the radial position are simultaneously taken as optimization variables, and a parameterization model of the propeller blade is generated. The method has the advantages that the iterative optimization design method is based on numerical simulation, can accurately evaluate and improve the aerodynamic efficiency of the ducted propeller.

This invention relates to the field of marine propulsion device manufacturing, specifically a design method for a fully azimuth-controlled adjustable-pitch ducted propeller. This method extracts the basic parameters of the ship's main engine and existing rudder propeller, and establishes an integrated arrangement scheme to replace the fixed-pitch propeller with an adjustable-pitch propeller while maintaining the original power parameters unchanged. Based on the theoretical diagram of the fixed-pitch ducted propeller, a hydrodynamic calculation program is executed, introducing correction factors for increased shell diameter ratio and slightly reduced disk area ratio, and forcibly lowering the theoretical thrust coefficient by 5%, to obtain the corrected target open-water characteristic curve. The overall rotational characteristics of the fully azimuth-controlled rudder propeller are utilized to provide thrust for reversing and steering, strictly limiting the pitch adjustment authority to adaptability requirements for low-speed navigation and providing maximum drag under multiple operating conditions. A single-crank slider mechanism is configured inside the propeller hub as the core rotor component, and a three-dimensional spatial layout is completed. An electro-hydraulic integrated servo control system, dominated by a PLC and incorporating a dual-pump parallel architecture and a built-in hydraulic lock, is established. This significantly reduces the frequency and physical amplitude of the propeller blade rotation angle.

The invention relates to a ducted propeller (1) and to an aircraft having a ducted propeller according to the invention. The ducted propeller (1) has a stator (10) which comprises a central element (12) extending along a longitudinal axis (x). The stator (10) further has a housing (13) which is arranged around the central element (12), wherein the central element (12) is connected to the housing (13) via at least one first web (11a) and at least one second web (11b). A rotor (20) having a plurality of rotor blades (21) is arranged on the central element (12) of the stator (10).According to the invention, a first web (11a) is arranged offset from a second web (11b) axially along the longitudinal axis (x) by a defined distance (d), wherein the distance (d) is selected such that a first sound wave (4a) generated at the first web (11a) due to the air flow is 180° out of phase with a second sound wave (4b) generated at the second web (11b) due to the air flow and identical to the first sound wave (4a).

The invention provides a shaftless ducted thruster and an aircraft. The shaftless ducted thruster comprises a shell, an air floatation rotating paddle assembly, an air cooling duct and a lip air inlet duct structure. The air floatation rotating paddle assembly is arranged in the inner side of the shell, is provided with a rotatable shaftless paddle end and is used for providing propelling force in a rotating manner; the air cooling duct is arranged between the shell and the air flotation rotating paddle assembly and penetrates through the two ends of the shell; the lip air inlet channel structure is arranged at the end of the shell and used for guiding airflow to enter the air cooling duct in an accelerated mode, and heat dissipation is conducted on the air flotation rotating paddle assembly in the shell. According to the invention, the air cooling duct is arranged between the shell and the air floatation rotating paddle assembly, and the air flow flows through the air cooling duct at a high speed under the flow guide acceleration of the lip air inlet duct structure on the air flow, so that direct heat dissipation is carried out on a core heating part, and a through type high-speed heat dissipation flow channel is formed; the low-efficiency heat dissipation mode that heat is conducted from the inside to the shell for heat dissipation in a traditional structure is effectively improved.

The present invention discloses a propulsion system for a deep-sea autonomous robot, belonging to the technical field of special ship devices. The system comprises the following steps: obtaining water pressure data, ocean current speed and direction data to obtain deep-sea environmental parameters; generating a pressure compensation instruction based on the water pressure data, and forming an isolation oil film at the propeller main shaft by executing the pressure compensation instruction; collecting the real-time vibration signal of the propulsion system, and generating a vibration suppression instruction based on the deviation between the real-time vibration signal and a preset attitude reference; generating a thrust distribution instruction based on the ocean current speed and direction data and the amplitude parameter of the vibration suppression instruction; and driving each ducted propeller to output directional thrust according to the thrust distribution instruction. The present invention utilizes dual-cone dynamic sealing, anti-phase vibration suppression, vector matrix allocation, and redundant thrust reconstruction technology to achieve reliable sealing and stable propulsion in a 10,000-meter deep-pressure environment, while simultaneously improving the equipment's service life and fault tolerance.

The utility model belongs to building glass cleaning technical field, concretely is a kind of culvert propeller adsorption type cleaning robot, including robot body, the front and rear sides of robot body are symmetrically equipped with two groups of driving caterpillar belt, the right side of robot body is equipped with cleaning wheel cover, the inside rotation of cleaning wheel cover is equipped with cleaning roller, the utility model utilizes the culvert type propeller of top four corners, and the distance between robot and glass surface can be quickly regulated, effectively overcome the distance barrier caused by structure such as window sill plate, ensure that negative pressure suction cup and cleaning roller are closely attached to glass, the detection camera and radar of front and rear sides scan building elevation profile in real time, avoid window sill, corner and other barriers in advance, avoid collision and risk of missing.

The invention discloses a power device of a rear-mounted aileron variable-pitch ducted propeller aircraft. The power device comprises a power part, a variable-pitch execution part, a duct, ailerons and a variable-pitch driving part, a power part coaxial with the duct is arranged in the duct; the power part is coaxially provided with a variable-pitch driving part, the driving end of the variable-pitch driving part is provided with a variable-pitch execution part, and the variable-pitch execution part is connected with the power part; the variable-pitch driving part is used for driving a paddle mounted on the variable-pitch execution part to adjust a variable-pitch angle, and the power part is used for driving the paddle to axially rotate around the power part; one end, far away from the power part, of the duct is provided with an extension part mounting aileron. Variable pitch angle adjustment of the blades can be achieved, power can be provided efficiently in different flight processes and at different flight speeds, noise can be reduced through the ducts, upward control force in the longitudinal direction of the wings is provided by enabling wake flow of the propeller blades to flow through the surfaces of the ailerons, and the flight speed is increased. And the aircraft power device keeps high flight efficiency in the whole flight process and has the capability of diversification of manipulation control.

According to the ducted propeller with the bionic front edge nodule blade structure and the manufacturing method, starting from two-dimensional type value points of propeller blades, chord lengths of several groups of cross sections are changed by modifying two-dimensional type value points of related cross sections, and therefore the shape of the front edge of the blade is finally changed; the invention particularly provides the ducted propeller with the bionic front edge nodule blade configuration, which is obtained according to the manufacturing method of the ducted propeller with the bionic front edge nodule blade configuration. The technical problems existing in the aspects of shape design optimization, fluid performance optimization design and propeller noise control of a ducted propeller and a conventional propeller in the prior art are solved.

This invention provides a long-endurance high-altitude power grid overhead unmanned aerial vehicle (UAV) system and its control method to solve the problem of deployment limitations for tethered UAVs due to cables being obstructed by obstacles such as trees and buildings. The system includes a lift device, a power unit, a connecting device, and a cable clamp. The lift device includes a balloon made of high-elastic rubber, an inflation valve, and a remote-controlled exhaust valve. The power unit includes a ducted propeller, a motor, an ESC, and a battery. The connecting device includes a base, a flat roller bearing, a connecting shaft, a cable clamp, a high-friction rubber patch, and a screw-driven turbine lift mechanism. After the cable passes through the clamp, it is secured. After the balloon is inflated with sufficient helium, it is released. The device pulls the cable above the obstacle, allowing the tethered UAV cable to bypass the obstacle, reducing the operating conditions for the tethered UAV. The power unit can also adjust the deployment position of the device to accommodate changes in the UAV's location.

The invention provides a ducted thruster thrust testing device and testing method. The thrust testing device comprises an air duct type mounting base, an axial linear moving platform, a ducted fan, an air inlet pipe, an air outlet pipe, an auxiliary fan and a pull pressure sensor assembly. The ducted fan comprises a ducted shell and a core assembly, the core assembly comprises a supporting guide vane, an impeller and a motor assembly, a linear cylindrical guide rail assembly is arranged between the supporting guide vane and the ducted shell, and the thrust value of the core assembly can be independently measured through the arrangement of the linear cylindrical guide rail assembly. The thrust value of the core assembly is compared with the overall thrust value of the ducted fan, and the influence of the ducted shell on the thrust is evaluated; if the overall thrust value is larger than the thrust value of the core assembly, it is indicated that the thrust of the ducted shell is increased; if the overall thrust value is smaller than the thrust value of the core assembly, it shows that the duct shell causes energy loss.

The invention discloses a butterfly-shaped unmanned aerial vehicle with high flight stability and a use method thereof, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a propelling assembly is arranged at the bottom of the unmanned aerial vehicle body, and a connecting assembly is arranged at the top of the propelling assembly and located at the bottom of the unmanned aerial vehicle body. The propelling assembly can capture the posture change of the aircraft body caused by strong wind in real time through the balance sensor on one side of the top of the shell, signals are synchronously fed back to a transmission system, a bevel gear, a worm gear and a worm are driven by a motor to be rapidly linked, the angle of a ducted propeller is adjusted in time to generate reverse counteracting force, and impact of the strong wind on the aircraft body is rapidly neutralized; inclination, yawing or deviation of the aircraft body caused by strong wind is effectively restrained, it is ensured that the aircraft body can still keep a stable flight state in a complex strong wind environment, the stress directions of the ducted propellers can be accurately adjusted according to the strong wind from different directions, and propulsive force can effectively resist the aircraft body from the corresponding side.

The present application relates to a kind of ducted propeller multi-objective optimization design method, comprising: obtaining a group of chord length parameters of airfoil section at different radius of blade hub to blade tip;Performance parameters of ducted propeller are constructed about objective function;A group of target chord length parameters is generated and as initial sample, obtain the multiple objective function values corresponding to initial sample;Predictive model is obtained, and corresponding proxy model is constructed for each performance parameter;The final population corresponding to each initial population is obtained;The optimal chord length parameter of ducted propeller is obtained.The present application can obtain the optimal chord length parameter under the limited number of simulation calculation based on the comprehensive consideration of each performance index of ducted propeller, and based on the optimal chord length parameter, the ducted propeller with excellent comprehensive performance can be designed, to improve the accuracy of optimization result.

The present invention relates to a ducted propeller for delaying cavitation based on a super-hydrophobic slip effect and a manufacturing method thereof, comprising: a duct; a stator fixedly disposed in the duct; and a rotor, wherein the rotor comprises a rotating shaft rotatably connected to the stator and a plurality of blades fixedly connected to the rotating shaft, the tip of each blade being provided with a first super-hydrophobic layer; wherein a tip gap is formed between the first super-hydrophobic layer and the inner wall of the duct, and the surface of the first super-hydrophobic layer has a gas-liquid interface slip effect, thereby delaying tip gap vortex cavitation, reducing noise, and weakening cavitation risk without changing the duct wall and rotor blade tip structure of the ducted propeller.

An assembly for an aircraft turbine engine is provided. The assembly generally includes an un-ducted propeller blade of which the root has a bulbous portion; a system for setting the pitch of the blade about a pitch setting axis, the pitch setting system including a cup configured to be placed inside the outer casing, has a flared open top end for axial insertion of the root and in which the root of the blade can be axially affixed by a locking member; and at least one radial retention prong in a radial space reserved between the wall of the cup and the root.

The present application provides a ducted propeller, belonging to the field of ducted propellers, comprising a duct, a ring, a hub, a fixed blade and a movable blade; the ring is arranged to rotate on the axis in the duct; the hub is arranged to rotate on the axis in the duct; the fixed blade rotates synchronously with the ring; the movable blade rotates synchronously with the hub, and moves forward and backward along the axis of the hub relative to the hub and has a first position and a second position; when the movable blade is in the first position, the fixed blade and the movable blade are in the same rotation plane; when the movable blade is in the second position, the fixed blade and the movable blade are in two radial planes respectively. The present application sets the movable blade of the shafted propeller to move axially, and combines the fixed blade of the shaftless propeller which can be controlled independently to stop rotating, so that the two different working modes can be switched flexibly, and the rotating blade of the shaftless propeller is designed as a variable structure, which is directly converted into the front stator of the duct after stopping, realizing the functional reuse of a single component.

This invention discloses a fixed-type aerodynamic performance-selective ducted propeller shaft structure for land-to-air aircraft. The fixed-type structure includes a central main shaft, at least one first rotor, at least one second rotor, at least one third rotor, a first duct corresponding to each of the first rotors, a second duct corresponding to each of the second rotors, and a third duct corresponding to each of the third rotors. The first rotors are fixedly mounted on the central main shaft. The first duct is fitted around the outer periphery of the first rotor. The second rotor is loosely fitted onto the central main shaft, and its second blade is fixedly connected to the second duct. The third rotor is fixedly connected between the central main shaft and the third duct. This fixed-type structure uses the duct and rotor as equivalent to a pump wheel, a turbine, and a guide wheel, respectively, thereby achieving different aerodynamic performances to meet different aerodynamic and lift requirements, thus enabling selection of aerodynamic performance.

The application provides a cross-domain vehicle and a navigation method, and belongs to the technical field of cross-domain vehicles.The vehicle comprises a catamaran main body, a composite propulsion module and a semi-submersible floating body structure, the catamaran main body is provided with an underwater propeller, and the catamaran main body is connected with the semi-submersible floating body structure;the top of the semi-submersible floating body structure is provided with a foldable rotor system, the foldable rotor system is connected with a rotor engine, and is retracted and closely attached to the vehicle body in the water entry or underwater stage, so as to reduce fluid resistance; the composite propulsion module comprises a front anti-torsion ducted propeller and a tail pitch ducted propeller which are installed on the semi-submersible floating body structure.The application effectively solves the problems that the traditional water navigation tool and the aerial vehicle have single functions and are difficult to efficiently cooperate in a complex environment, realizes water-air amphibious autonomous switching and attitude stable control, and provides a multifunctional and efficient operation platform for the fields of ocean exploration, emergency rescue and cross-domain logistics.

This invention proposes a ducted propeller, comprising a tube body, a propeller body, and protruding units. At least one groove is formed on the inner wall of the tube body. The propeller body is disposed within the tube body and located at one end of the tube body. The groove is spirally arranged around the central axis of the tube body. Several protruding units are continuously and uniformly arranged within the groove along its spiral line. Adjacent protruding units are connected end-to-end. By forming a spiral-shaped groove on the inner wall of the tube body, the propeller wake is rectified. As the wake flows towards the outlet at the free end of the tube body, the circumferential velocity component of the wake gradually decreases under the action of the groove. This results in the circumferential velocity component at the wake outlet being significantly smaller than that at the wake inlet, thereby improving propulsion efficiency and reducing noise.

The present application belongs to the technical field of copper alloy, and particularly relates to a wear-resistant and corrosion-resistant high-manganese copper alloy and a preparation method thereof, characterized by the following composition by weight percentage (wt.%): Mn: 20% to 35%, Al: 5% to 7%, Ni: 10% to 14%, and the balance of Cu and inevitable impurities, with the total percentage of all impurities being not more than 0.5%, and the content of any one of Pb, Sn, Si, Zn, P and S being not more than 0.1%. The preparation method comprises the following steps: 1) batching; 2) smelting; 3) pouring; and 4) solid solution treatment, to obtain the wear-resistant and corrosion-resistant high-manganese copper alloy. The present application has the following beneficial effects: innovative alloy composition, tensile strength up to 585 MPa, yield strength up to 296 MPa, hardness up to 305 HV, friction coefficient as low as 0.43, corrosion current density as low as 3.95 x 10 ‑6 A / cm 2 , and excellent comprehensive performance, and can be widely applied to pump bodies, valve bodies, pipelines, propellers and other parts in marine environments and other occasions with high requirements for wear resistance and corrosion resistance.

The application provides a movable post-stator duct propeller, which comprises a pipe body, an inflow end and an outflow end at two ends respectively, a propeller body arranged in the pipe body and provided with a propeller blade, and a stator arranged on the inner wall of the pipe body and located between the propeller body and the outflow end, wherein the end of the propeller blade towards the stator is a trailing edge, the trailing edge has the ability to be elastically deformed by heating or cooling, and the end of the trailing edge towards the stator rotates around the pipe body in the radial direction; the end of the stator towards the propeller blade is a leading edge, the leading edge has the ability to be elastically deformed by heating or cooling, and the end of the leading edge towards the propeller blade rotates around the pipe body in the radial direction; the trailing edge of the propeller blade and the leading edge of the stator can simultaneously deform and deflect, which helps the inflow angle of the propeller blade and the post-stator to be zero to form an ideal hydrodynamic state, and the trailing edge of the propeller blade and the leading edge of the stator simultaneously deflect, which solves the problem that only the leading edge of the stator deflects and needs to deflect a large angle.

Aircraft characterized in that it has a tailless configuration with a central fuselage pylon as a payload carrier, which connects two backward and vertically staggered wings with integrated ducted propellers / blowers, wherein the wing staggering has an angle of 45° (+ / -10°) to the vertical tilted backwards, thereby generating the maximum possible wing area with minimal dimensions.

The utility model discloses an underwater vehicle with a force feedback mechanical arm. The underwater vehicle comprises an upper shell, a mainboard, a lower shell, an electronic sealed cabin, a multi-degree-of-freedom mechanical arm, a ducted propeller and a current feedback module, wherein the electronic sealed cabin is embedded in the mainboard; the ducted propellers are fixedly connected with the main board and the lower shell respectively; the current feedback module is coaxially nested with a connecting piece of the multi-degree-of-freedom mechanical arm, and the sensing module, the control module and the energy and power module are arranged in the electronic sealed cabin in a layered mode and used for collecting external data and executing movement actions; the multi-degree-of-freedom mechanical arm comprises a bottom rotating device, a joint rotating device and a tail end clamping device and is used for achieving force feedback through current detection fed back by the current feedback module. According to the underwater vehicle, flexible clamping of a target object can be achieved, the electrical performance of the tail end executing mechanism is protected, and the force feedback precision and stability are remarkably improved; and the target object can be automatically grabbed.

A cable climbing robot includes a climbing front body and a detection body. The climbing front body includes a front body rack, duct propellers, a front body clasping unit and a front body control module, the duct propellers are mounted on the outer side of the front body rack; the front body clasping unit includes a front body clasping electric motor, a front body clasping transmission component and a front body clasping member; the front body clasping electric motor is fixedly mounted on the front body rack, and the front body clasping electric motor drives the front body clasping member via the front body clasping transmission component; the front body control module is mounted on the front body rack, and the front body control module is electrically connected to the duct propellers and the clasping electric motor.

The present invention relates to the technical field related to propeller hydrodynamic performance simulation, and discloses a ducted propeller hydrodynamic calculation method based on the flow equality principle and its application. The method uses a body force model to replace the effect of the blades, introduces a mass flow correction coefficient λ in the processing of the advance rate, and calculates λ based on the principle that the mass flow of the physical ducted propeller is equal to the mass flow of the duct-matched body force model. The advance rate coefficient is then corrected by the mass flow correction coefficient λ, thereby correcting the low propeller thrust, duct thrust, and mass flow in the duct after the use of body force instead of the physical propeller. Through this improved body force method, the coupled hydrodynamic effects between the duct and propeller can be fully considered on the basis of significantly improving the efficiency of the vehicle's maneuvering motion simulation, thereby obtaining more accurate propeller thrust, duct thrust, and the vehicle's navigation resistance simulation values.

The present invention relates to a ducted propeller arrangement (10) comprising: a ducted propeller (1) with a flow housing (1.1) forming a flow channel (1.2) and a propeller (1.3) arranged in the flow channel (1.2), and a flap device (2) with a plurality of pivotable flaps (2.1), by means of which an inflow cross-section (1.2.1) or an outflow cross-section of the flow channel (1.2) can be selectively covered or exposed, wherein each pivotable flap (2.1) is mounted by two pivot bearing devices (2.2) arranged on opposite sides of the respective pivotable flap (2.1), wherein the pivot bearing devices (2.2) each have an extension device (2.2.1) by means of which a distance between a pivot bearing (2.2.2) of the respective pivot bearing device (2.2) and the flow housing (1.1) can be changed.The present invention further relates to an aircraft (100), wherein a ducted propeller arrangement (10) according to the invention is arranged on a wing (11) in such a way that the flow channel (1.2) runs vertically through the wing (11).

The application provides a cross-domain vehicle combining a ducted propeller group and a rotor unmanned aerial vehicle and a navigation method, and belongs to the technical field of cross-domain vehicles.The cross-domain vehicle comprises six groups of circumferentially uniformly distributed ducted propellers, which comprise clockwise rotating ducted propellers and counterclockwise rotating ducted propellers; the clockwise rotating ducted propellers and the counterclockwise rotating ducted propellers are alternately arranged; the bottom of the ducted propeller is mounted on a circular base; the ducted propeller is connected with a cylindrical structure through a transverse connecting beam; a rotor unmanned aerial vehicle system is mounted on the cylindrical structure; and a flight control device and two groups of battery systems are mounted in the cylindrical structure.The vehicle integrates water surface navigation and air flight functions, realizes the operation requirements such as rapid and stable navigation on the water surface, smooth take-off and ascent into the air and safe landing on the water surface through fine regulation and control of the coordinated work of the ducted propeller group and the rotor unmanned aerial vehicle, realizes lightweight while ensuring the structural strength, and guarantees the stability and environmental adaptability of the vehicle.

The application discloses a variable-structure multi-duct vertical take-off and landing aircraft and a control method thereof. The aircraft comprises a fuselage, wings fixed on both sides of the fuselage, and a V-shaped tail wing fixed at the tail of the fuselage. The wings comprise fixed wings connected with the fuselage and rotatable wings connected with the fixed wings. At least one ducted propeller thrust unit is arranged on the rotatable wings. During the rotation of the rotatable wings around the fixed wings, the rotatable wings have a first position for keeping the aircraft in a horizontal flight mode, a second position for keeping the aircraft in a vertical take-off and landing flight mode, and an intermediate transition position for a transition flight mode. The root of the V-shaped tail wing is rotatably connected to the tail of the fuselage. The rotatable wings and the V-shaped tail wing are connected through a synchronous motion mechanism, and the opening angle of the V-shaped tail wing is synchronously adjusted during the rotation of the rotatable wings around the fixed wings. The application can realize vertical take-off and landing and cruising in a fixed-wing mode, and can switch the flight mode during flight.

Aircraft with a fuselage (12) and two wings (14, 16) arranged on opposite sides of the fuselage (12), wherein the wings (14, 16) each comprise at least one ducted propeller (22, 24) and each comprise at least one adjustable elevon (40, 42, 44, 46), wherein the ducted propellers (22, 24) are activatable at least in a vertical flight phase and the elevons (40, 42, 44, 46) are pivotable about a rotational axis (D) at least between a first position and a second position, wherein the elevons (40, 42, 44, 46) in the second position enclose a larger angle (a) to a horizontal plane than in the first position, wherein the elevons (40, 42, 44, 46) are adjusted to the second position in the vertical flight phase.

The invention provides a distributed power stern rudder system for an underwater vehicle. The distributed power stern rudder system comprises a stern rudder, a ducted propeller assembly, a driving motor and a control unit arranged in a boat body. The stern rudders adopt an X-shaped design and are divided into four groups which are uniformly distributed in the circumferential direction of the stern contraction section, so that a multi-degree-of-freedom control configuration with four control surfaces working cooperatively is formed; the four groups of ducted propeller assemblies are respectively matched and correspondingly mounted at the tips of the four groups of stern rudders; each group of guide pipe paddle assembly comprises a guide pipe, an upper stator, a lower stator, a motor mounting sleeve, a flow guide cover, a propeller, a driving motor and a mechanical sealing part; the driving motor is electrically connected with the control unit, the power output end of the driving motor extends out of the axial outer side of the motor mounting sleeve, and the propeller is mounted at the extending end in a matched mode. According to the novel distributed power tail vane design, the conception is reasonable, the yawing moment can be provided in the static state, the yawing moment can also be provided at different navigational speeds, and navigation thrust can also be provided.