91 results about "Pump-jet" patented technology

The invention provides a fluid-structure interaction vibration simulation and suppression method for a water-jet propeller, and belongs to the field of numerical simulation of computational fluid mechanics. The method comprises the following steps: establishing a finite element model of a water-jet propeller impeller-shafting coupling system; performing dry mode and wet mode comparative analysis on the finite element model by utilizing a finite element method, and verifying the effectiveness of the model; dividing finite element grids of a structural domain and a flow field domain; establishing a fluid-solid coupling model; on the basis of bidirectional fluid-solid coupling numerical calculation, the flow field speed and acting force are solved through CFD, the structure movement speed and displacement are updated, a flow field grid is further updated, flow numerical calculation continues to be conducted, and iteration is conducted till the simulation time ends; flow-induced vibration characteristics are analyzed through post-processing, and the vibration amplitude is restrained by adjusting the mass center position of the impeller airfoil. According to the method, the bidirectional fluid-solid coupling model of the impeller-shafting system of the water-jet propeller is constructed, structural deformation and transient flow field information are directly associated, and the hydrodynamic performance is improved.

The invention provides an automatic berthing method and device for a single boat in the new quality field, and relates to the technical field of automatic control of boats in the new quality field. Static berth information and a sensor sensing result are fused to construct a task situation package containing a multi-moving-obstacle trajectory prediction set and a dynamic prohibited area set, dynamic collision avoidance guidance is executed in a first-stage tracking path, and a staged deceleration strategy of vector motion and hovering is switched to obtain a berthing point state set when conflicts occur. Performing in-situ heading adjustment by using the state set of the berthing point, outputting consistent heading, zero navigational speed and position states, executing target point type vector approach guidance in the second stage, hovering when a collision risk is predicted, and recovering vector motion control in a safe time window to complete lateral positioning welt berthing. And finally, precise thruster control instruction output is achieved through thrust distribution of the double water-jet thrusters. According to the invention, automatic berthing of the new-quality field single boat under the condition of multiple moving obstacles can be realized.

The invention relates to an array type underwater propeller with high maneuverability and low energy consumption, a pump jet generating device and a flow divider jointly form a propeller front end, an intelligent fluid director forms a propeller rear end, and the pump jet generating device drives an impeller through a rotating motor to drive surrounding water flow to rotate to generate a main jet flow; an isolation structure is arranged in the flow divider and used for evenly dividing the main jet flow into multiple strands of independent sub jet flows, and all the sub jet flows form propelling power after entering the intelligent flow guider to be guided. The intelligent fluid directors are connected with the flow channels of the flow divider in a one-to-one correspondence mode and used for converting fluid flowing out of the flow divider and out of the jet flow face into effective action jet flow with the adjustable flow speed. The intelligent fluid director comprises a jet flow end regulation and control mechanism and a pressure relief end regulation and control mechanism, and the jet flow end regulation and control mechanism is used for independently regulating the flow speed of effective jet flow ejected from the fluid director; and the pressure relief end regulation and control mechanism is used for maintaining the constant flow velocity at the inlet of the fluid director by releasing part of water flow when the effective jet flow velocity is regulated.

The invention discloses an unmanned ship self-adaptive safety redundancy system for an inland river ultra-shallow water environment and a control method. The system is composed of four-stage closed-loop redundancy of sensing, decision making, execution and laws and regulations. A 0.1 m-stage shallow water three-dimensional map is constructed in real time by a dual-millimeter-wave radar and a high-frequency single-beam sounding sonar; the main and standby controllers process the quay wall effect, backflow and grounding nonlinear disturbance on line through a BLF-RBFNN fixed time convergence algorithm, and the upper bound of convergence time is 4.2 s and is irrelevant to the initial state; the variable-configuration double-pump jet-air cushion hybrid propulsion device adjusts the draft on line according to the water depth of 0.12-0.45 m, and is matched with the self-righting honeycomb composite ship body to automatically stop leakage and return within 60 seconds when the ship body is damaged; and when the ship-end double control fails, the ship-shore cloud collaborative digital twinborn body completes regulation-level minimum risk takeover within 10 seconds. Experiments prove that the path error is less than or equal to 0.08 m and the fault degradation success rate is 100% in a 0.15 m water tank and 0.35 m Yangtze River channel, and zero-grounding, zero-overturning and zero-regulation illegal sailing of the ultra-shallow water unmanned ship is realized.

The invention provides a gas-liquid two-phase pump jet propulsion device for an underwater navigation body, and belongs to the technical field of underwater propellers, the gas-liquid two-phase pump jet propulsion device for the underwater navigation body comprises a pump jet assembly, the pump jet assembly is installed in a propeller guide pipe, and the propeller guide pipe is fixedly installed at the rear end of a navigation body shell; the pump jet assembly comprises a paddle shaft, a front stator, a rotor and a rear stator which are sequentially installed in the fluid direction. The gas supply unit comprises a high-pressure gas storage container, the high-pressure gas storage container is communicated with a gas adjusting device through a gas filtering unit, the gas adjusting device is communicated with a gas conveying pipe, the gas conveying pipe is communicated with an annular nozzle, the annular nozzle is connected with an inner cavity of an annular mixing cavity, and the annular mixing cavity is installed in the inner cavity of the annular mixing cavity. The annular mixing cavity is located at the rear end of the pump jet assembly. By fusing the pump spraying momentum transfer principle and the gas-liquid two-phase flow control technology, the thrust can be remarkably improved, and the technical breakthrough of reducing the working noise and improving the cavitation critical speed is synchronously realized.

The invention discloses an autonomous berthing method for a double-water-jet-propeller water surface unmanned ship, and the method comprises the steps: defining a state space, an action space, a reward function and a neural network structure element, employing a reinforcement learning method, and according to the current radar observation information of the unmanned ship, the target berth position information, and the current speed information of the unmanned ship; according to the method, the unmanned ship control output information is obtained, the problems that a traditional manual design berthing collision avoidance rule, a physical motion model, a machine learning method, an environment model and the like are greatly influenced by the environment, and intermediate steps are multiple and complex are solved, the calculation efficiency and the one-time planning berthing success rate are effectively improved, and therefore the berthing efficiency is overall improved.

The invention discloses a water jet propulsion boat low-speed working condition energy-saving device based on the coanda effect. The water jet propulsion boat low-speed working condition energy-saving device comprises a flow guide plate, a fixed connecting piece and an angle adjusting device. The guide plate is arranged behind a nozzle of the water-jet propeller and is an S-shaped curved surface, the front end is hinged with the fixed connecting piece, and the rear end is hinged with the angle adjusting device; under a low-speed working condition, the guide plate rotates to a folded state, the upper wall surface covers a nozzle of the water-jet propeller and can guide jet flow to flow in a manner of being attached to the guide plate by means of the coanda effect, and the lower wall surface guides circulating vortex in a boat rear wake flow field; under the medium-high speed working condition, the guide plate rotates to a put-down state, the upper wall face is far away from jet flow of the water-jet propeller, and the lower wall face does not generate additional flow field disturbance in the boat body wake flow field. The jet flow of the water-jet propeller and the circulating vortex of the wake flow field of the boat body are guided based on the coanda effect, adverse flow coupling between the jet flow of the water-jet propeller and the circulating vortex is restrained, recycling of effective momentum in the corresponding wake flow field vortex is synchronously improved, and therefore the propelling efficiency of the water-jet propelling boat under the low-speed working condition is improved.

One side of an impeller shell of the water-jet propeller is communicated with an inlet flow channel, a guide vane body is arranged on the other side of the impeller shell, a nozzle is formed in the outer side of the guide vane body, and a plurality of micro-channel structures are arranged at the position, close to the impeller shell, of the bottom of the inlet flow channel. And the inlet flow channel is communicated with the ship bottom through the micro-channel structure. The invention provides a microchannel structure for inhibiting cavitation bubbles in the lower half area of the propeller, water flow at the bottom of a ship is guided to the inner side of an inlet flow channel, jet flow is formed, the low-pressure area in the inlet flow channel and an impeller is impacted, the cavitation intensity in the propeller is inhibited, the structure is simple, and the thrust and reliability of the propeller in a low-navigational-speed state can be improved.

The refrigeration device comprises a heat exchanger and a water-jet propeller, the heat exchanger is provided with a water flow channel, and the water flow channel of the heat exchanger is communicated with a water flow pipeline of the water-jet propeller, so that water flow sucked by the water-jet propeller exchanges heat with the heat exchanger and then is sprayed out from a water outlet. The heat exchanger of the refrigerating device communicates with the water flow pipeline of the water-jet propeller, water flow formed in the sailing process of the water-jet propeller is used for cooling the condenser, integrated design of a propelling system and a refrigerating and cooling system is achieved, and the problems that a traditional independent condenser is large in size and heavy in weight are solved; and the structural complexity and the occupied space of the refrigerating system are obviously reduced.

The present application relates to the technical field of water jet propeller, and discloses a fish environmental protection type water jet propeller based on bionics, which comprises a water inlet pipeline, a water jet assembly is arranged on the water inlet pipeline, and the water jet assembly comprises a main shaft. In order to meet the dual requirements of ship propulsion and water ecological protection, the fish environmental protection type water jet propeller based on bionics is provided with the water jet assembly, the assembly drives the mounting shaft to rotate together with the main shaft, the spherical block and the conical block cooperatively drive the impeller and the propeller to run at high speed, and stable propelling water flow is formed; the straight groove, the connecting groove, the hollow drainage groove and the conical drainage groove of the drainage module constitute a closed loop flow channel, the high-energy water flow downstream of the nozzle is guided back to the inlet edge of the impeller and the propeller through the straight metal pipe and the drainage curved metal pipe, uniform backflow jet flow is formed on the surface of the blade, the bionic vortex screen is generated by the interference of the main flow, the rigid edge of the blade is covered, and small fish are guided to actively avoid.

The invention provides a water-jet propeller impeller structure with self-adaptive guide vanes, and relates to the technical field of water-jet propellers. The water-jet propeller impeller structure with the self-adaptive guide vanes comprises a main body mounting plate body, the upper surface of the main body mounting plate body is fixedly connected with a propeller main pipeline, and the bottom end of the propeller main pipeline is communicated with the surface of the main body mounting plate body; and the surface of the propeller main pipeline is rotatably connected with a horizontally arranged rotary mounting shaft in a penetrating manner. A driving air cylinder is started, the piston end of the driving air cylinder drives a driving connecting rod to move, the driving connecting rod drives a mounting fixing plate to move, the mounting fixing plate drives an annular driving block to move, a driving clamping block drives a second bevel gear to rotate through a second rotating shaft rod, and the second bevel gear drives four first bevel gears to rotate; the first bevel gear drives the guide vane to rotate through the first rotating shaft rod, the opening and closing angle of the guide vane is changed, different requirements are met, and operability is high.

The invention provides a pod type gas-liquid two-phase pump jet propeller, which belongs to the technical field of ships and underwater propulsion, and comprises a pod type shell, paddles, a stator and a bubble generating chamber, the paddle, the stator and the bubble generating chamber are located on the same central axis, the stator is fixedly installed in the front end of the pod type shell and connected with the motor, the motor is connected with the rotating shaft, the rotating shaft is connected with the propeller hub, the paddle is installed on the rotating shaft, the bubble generating chamber is horizontally installed in the middle section of the propeller, and the bubble generating chamber is communicated with the gas channel. The gas channel is installed in the connector, the connector is connected with the pod type shell, and the nozzle is installed at the tail end of the pod type shell. The invention has the stamping effect advantage under the high-speed working condition and the pump jet propulsion characteristic under the low-speed working condition, has the characteristics of high propulsion efficiency, strong cavitation inhibition, wide working condition application range and the like, and is particularly suitable for carrying platforms such as bathyscapes, special ships and the like which need to consider both concealment and power performance.

The application relates to a water jet propeller mounting method, which comprises the following steps: pulling a line, detecting the machining allowance of a flange, detecting the mounting gap between the water jet propeller body and the inner wall of a base, making a boring reference point, mounting a boring row, checking the boring allowance, machining the flange, marking and drilling the base of the water jet propeller, mounting the water jet propeller and mounting a motor, and the like. The mounting precision is high, the mounting is simple, the center line of the water jet propeller is pulled, the step of finding the center of the water jet propeller cylinder is omitted, time and labor are saved.

The invention belongs to the technical field of fluid mechanics analysis, and particularly relates to a high-precision calculation method for cavitation of a tip vortex of a rotor of a pump-jet propeller. Comprising the following steps: establishing a pump-jet propeller model; determining a computational domain; performing grid division on the model; establishing cross section monitoring pressure distribution characteristics; cFD calculation is carried out; determining minimum pressure monitoring results of vortex cores of all cross sections under different grid densities, and obtaining a vortex core pressure mean value comparison curve after the maximum size of a grid unit is adjusted; comparing the mean value comparison curves under the vortex core pressure, and selecting a preferable blade tip domain grid size; and a solver is used for solving, and a cavitation model is introduced to obtain a tip vortex cavitation result. According to the method, on the basis of a common multi-channel periodic structure grid, local grid reconstruction is carried out on a rotation domain of a pump-jet propeller rotor in combination with tip vortex flowing characteristics, and finally accurate prediction of tip vortex cavitation of the pump-jet propeller is achieved.

The utility model discloses an independently detachable thrust bearing structure of a water-jet propeller, which comprises a shaft sleeve sleeved on the outer side of an impeller shaft, a locking nut, a thrust bearing, an oil distributing ring and a radial support bearing are sequentially sleeved outside the shaft sleeve along the direction from the end part of the impeller shaft to the root part of the impeller shaft, and a bearing box is arranged outside the thrust bearing and the radial support bearing. The bearing box is connected with the guide vane body; and a bearing cover is arranged between the bearing box and the impeller shaft. The water-jet propeller can be independently replaced without being detached from a ship, and the maintenance cost is low. And meanwhile, the oil path in the bearing cavity is prolonged through the oil distribution ring, the distance between the oil inlet hole and the oil outlet hole is increased, oil is fully circulated in the bearing cavity, and the cooling effect is good.

The invention relates to a propulsion system (1) for a watercraft, which is designed as a pump jet and has a housing (10) with at least one inlet channel (14) and at least one outlet nozzle (15) communicating therewith, and a propeller arranged between the at least one inlet channel (14) and the at least one outlet nozzle (15) and designed as an impeller (13) and rotatable via a drive motor, by means of which propeller water is sucked into the housing (10) via the inlet channel (14), accelerated, and expelled from the housing via the outlet nozzle (15) as a thrust jet, wherein the housing (10) is rotatable about a control axis (S) by means of a control drive, and the drive motor comprises an annular stator (11) fastened in the housing (10) and a rotor (12) received therein, which forms the impeller (13),wherein the housing (10) comprises a fixed inner part (100) and an outer part (101) mounted on the inner part (100) so as to be rotatable about the control axis (S), and the stator (11) is fixedly connected to the inner part (100) via retaining struts (102).

The invention discloses a bionic fluctuation coupling pump jet propulsion performance numerical calculation method, program and equipment and a storage medium, and belongs to the technical field of underwater bionic robots. According to the method, a physical model is established according to bionics and fish taxonomy principles, the external flow field range and the boundary condition type of the bionic propeller are determined, a structured grid and non-structured grid combination technology is adopted, the calculation accuracy is improved, and a dynamic grid method is adopted for simulation calculation; the numerical calculation method provided by the invention is based on combination of various grids, can more accurately control the initial state of the propeller, improves the accuracy of a simulation result, obtains a fin surface pressure distribution rule of the undulating fin in one period and a flow field evolution rule along with the motion of the undulating fin, and obtains a blade surface pressure distribution rule of the pump-jet rotor in one period at the same time; the propelling performance of the bionic fluctuation coupling pump jet is effectively predicted, and a theoretical foundation is laid for structural design optimization and motion control of the bionic fluctuation coupling pump jet propeller.

The invention relates to the technical field of life-saving equipment, in particular to a self-rescue system based on a power life jacket and an intelligent self-rescue method.The self-rescue system comprises a life jacket body, a main control module, a power module and a battery module, and the power module comprises a propeller body and two pump spraying propelling units; the two pump spraying propelling units are arranged on the two sides of the propeller body respectively, the main control module and the battery module are both arranged on the propeller body, and the life jacket body is provided with a plurality of attitude sensors. According to the system, whether abnormal or dangerous postures such as face downward, rolling and handstand occur or not is accurately judged, when the abnormal postures are detected, the system automatically adjusts the thrust magnitude and direction of the two pump spraying propulsion units, posture correction torque is generated, a wearer is helped to recover to a safe posture, and the safety of the wearer is improved. The system can make a quick response when rescue workers are collided, unbalanced or exhausted, and it is guaranteed that the rescue workers are always in a breathable safe posture.

The invention relates to the technical field of water jet propulsion and fluid control, and provides a water jet propeller nozzle control device which comprises a water jet propeller, a rotary closer, a driving device, a control device and a flow velocity sensor. The rotary closer is fixed to the outlet end of a nozzle of the water-jet propeller, and the flow velocity sensor is embedded in the rotary closer to monitor the flow velocity of the nozzle in real time. The outer ring of the rotary closer is tightly connected with the driven wheel, and blades in the rotary closer are driven to do radial opening and closing motion through gear meshing transmission. The man-machine interaction terminal is used for inputting a target nozzle flow rate or an emergency stop signal, the central controller controls the frequency converter to work according to an input instruction and feedback of the sensor, and accurate flow rate adjustment and safe emergency stop are achieved. The control performance, the safety and the reliability of the water jet propulsion system are comprehensively improved. Response is rapid, the flow field is efficient, and resistance and loss are small; the device has an active sudden stop capability, and realizes absolutely reliable rapid cut-off safety guarantee.

A water jet propeller for water sailing comprises a jet pump shell, a motor cavity, a transmission cavity and a water inlet cavity are formed in the jet pump shell, a spray head is installed at the left end of the water inlet cavity, a driving motor is installed in the motor cavity, a transmission assembly is arranged in the transmission cavity, and a driving shaft is installed in the water inlet cavity. An output shaft of the driving motor is in transmission connection with a driving shaft through a transmission assembly, the driving shaft is connected with an impeller center shaft through a coupler, and an impeller is fixedly installed at the other end of the impeller center shaft. A water inlet grid is fixedly embedded in the bottom of the spray pump shell, a supporting plate is fixedly installed above the spray pump shell, a U-shaped hanging plate is fixedly installed on the supporting plate, a control box is fixedly installed on the left side face of the supporting plate, the left side of the supporting plate is fixedly covered with an outer shell, and the lower end of the outer shell is in sealed connection with the spray pump shell. And the control box is connected with a control port of the driving motor through a cable. According to the utility model, the defects in the prior art are overcome, and efficient water sailing can be realized.

The application discloses a micro baffle structure for reducing vibration and increasing efficiency of a water jet propeller pump, wherein a hub surface of a guide vane body of the water jet propeller pump is a semi-sphere, the guide vane body is provided with guide vane body blades, a side of the guide vane body blades close to the semi-sphere plane is a root of the guide vane body blades, a bone surface of the guide vane body blades is a reference surface S, a front side of the guide vane body blades is a pressure surface C, a back surface of the guide vane body blades is a suction surface A, a back surface of the micro baffle structure is a suction surface B, one side of the micro baffle structure is connected with the suction surface A of the guide vane body blades, and the other side of the micro baffle structure is bent and extends to an outer edge of the guide vane body blades. The application limits the development of a rotor root wake in a guide vane body channel, suppresses the intensity of guide vane body transverse vortex flow caused by a transverse pressure gradient, has a simple structure, and can improve the efficiency of the water jet propeller and reduce the dynamic flow excitation force of the water jet propeller.

The present application belongs to the technical field of large bridge excitation, and discloses a large-span bridge low-frequency large-amplitude vibration excitation device. The present application generates periodic vertical force by controlling the water pump jet direction and jet timing, provides controllable vertical load for the bridge, and thus excites the bridge to produce large-amplitude vertical or torsional vibration. By designing the water tank capacity, the number of water pumps, the nozzle diameter and the jet speed, using the multi-nozzle parallel and phase control strategy, the jet force and the water flow back force are optimized, the system power, the installation difficulty and the cost are significantly reduced, and high-efficiency excitation is realized. Compared with the prior art, the large-span bridge low-frequency large-amplitude vibration excitation device of the present application does not need complex mechanical frequency modulation and actuator, has small size, is convenient to disassemble and assemble, and has a flexible and adjustable control system, can quickly adapt to different vibration modes and frequency working conditions of the bridge, and has significant engineering application prospect and popularization value.

The invention provides a device for inhibiting cavitation of a pump-jet propeller and reducing noise, and belongs to the technical field of underwater vehicle propelling, energy conservation and noise reduction, the device comprises a guide pipe, a rotor, a propeller hub and a porous stator, the rotor and the porous stator are mounted on the propeller hub, the guide pipe is supported by the porous stator, the porous stator is of a porous structure, and the rotor is connected with the porous stator. The porous structure is used for improving the flow field of the rotor and improving the performance of the rotor and is located at the rear edge of the stator. The rear edge of the stator is provided with the porous structure, the porous structure is a plurality of small holes with different sizes, the porous structure restrains the trailing vortex of the stator in a micropore seepage mode, the inflow pressure of the rotor is greatly increased, the low-pressure area of the suction surface of the rotor is reduced, therefore, cavitation of the surface of the rotor is restrained, and the service life of the rotor is prolonged. The multi-hole structure scatters the trailing vortex, and the pulsating pressure amplitude of a rotor area is obviously weakened, so that the generation of broadband noise is effectively inhibited, and the radiation noise level of the pump-jet propeller is reduced.

Jet engine thermal transport bus pumps are disclosed. Disclosed herein is an aircraft comprising a gas turbine engine configured to burn fuel at a fuel flow rate to generate an engine power (Pengine), the fuel characterized by a first specific heat capacity (cp_fuel) and a net heat of combustion (NHCfuel); and a thermal management system configured to transfer heat from a working fluid to a heat sink fluid, the working fluid characterized by a second specific heat capacity (cp_pump) and a first density (ρpump), the thermal management system including a pump configured to generate a pump power (Ppump) to pressurize the working fluid, and whereinPOW=Ppump(cp⁢_⁢pumpcp⁢_⁢water)⁢(ρwaterρpump)2,FFR=(PengineN⁢H⁢Cfuel)⁢(cp⁢_⁢fuelcp⁢_⁢pump),0.008≤POW / FFR5 / 3≤12, FFR is between 0.05 pounds-mass per second and 16 pounds-mass per second, and ρwater and cp_water is the density and specific heat capacity of water, respectively.

1. Name of the product in this design: Waterjet Propulsion Unit. 2. Purpose of this design: A waterjet propulsion system for underwater navigation, providing propulsion power. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The invention provides a shaftless pump-jet propeller and a using method thereof, and belongs to the field of shaftless pump-jet, and the shaftless pump-jet propeller comprises a stator, a rotor and an annular paddle; the stator and the rotor are both in a cylinder shape with two through ends, and the rotor is sleeved with the stator and axially rotates relative to the stator. The annular blades are axially distributed on the inner wall of the rotor around the rotor, the annular blades synchronously rotate along with the rotor, the annular blades and the inner wall of the rotor are connected with front root parts and rear root parts, the front root parts swing along the outer contour of the radial section of the rotor relative to the rear root parts, and the shapes of the annular blades are adjusted. Real-time adjustment of the blade form is achieved through relative swinging of the front root part and the rear root part, the blades can keep the optimal attack angle and the optimal water flow contact face under different navigational speed working conditions, and therefore the propelling efficiency is improved, and energy consumption is reduced.

The multifunctional unmanned rescue boat comprises a boat body, an equipment platform is arranged on the boat body, a first equipment area, a second equipment area, a third equipment area and a fourth equipment area are sequentially arranged on the equipment platform in the length direction of the equipment platform, carrying equipment is placed in the first equipment area, and a life buoy and an unmanned aerial vehicle are placed in the second equipment area. A monitoring device is placed in the third equipment area, and a driving device is placed in the fourth equipment area; the equipment platform is further provided with a plurality of mechanical arms, and the mechanical arms are arranged on the boat head and the two sides of the boat body. The rescue boat is complete in equipment and can be remotely controlled through the unmanned aerial vehicle and the unmanned underwater vehicle of the equipment platform, and water and underwater targets can be conveniently searched; the three-side carrying capacity of the boat is improved through the three mechanical arms, and the conveying and rescue efficiency of the boat is improved; the tail water-jet propeller has good dynamic property, speed reduction is achieved by adjusting the direction of a nozzle, and when the boat is decelerated and drives to a person falling into water, the risk that the person is twisted is reduced.

The invention discloses an underwater vector type shaftless pump jet propeller, and belongs to the technical field of underwater propellers. The propeller comprises a propeller body, a flow dividing device, a vector control device and a control unit. A plurality of main spraying pipes distributed in the circumferential direction are arranged in the propeller body, and the flow dividing devices are arranged corresponding to the main spraying pipes and used for guiding part of water flow to be sprayed out in the non-axial direction through curve type flow dividing pipelines to generate lateral thrust. The vector control device drives a flow control component arranged at an inlet of the flow dividing pipeline through linear motion so as to control on-off of water flow. The control unit cooperatively controls the vector control devices according to the target steering instruction and the real-time navigational speed, the corresponding flow control components are accurately adjusted, vector synthesis is conducted on lateral thrust in the space, and therefore the steering torque in the target direction is generated. According to the invention, shunting regulation and control are carried out at a thrust generation source, the response speed is high, the efficiency is high, the structure is compact, and the maneuverability and maneuverability of the underwater vehicle are obviously improved.

The invention relates to a shallow-draft transshipment barge system and a control method thereof, and relates to the technical field of ship motion control, the shallow-draft transshipment barge system mainly comprises a push ship and a barge, two pod propellers are installed below the stern of the push ship, two water-jet propellers are installed at the bottom of the barge, and the two water-jet propellers are located at the positions, close to the bow, of the barge; the environment load monitoring module is installed on the push boat and used for monitoring water flow resistance and air resistance borne by the push boat and the barge; the thrust distribution module is in data connection with the data output end of the environmental load monitoring module and is used for calculating thrust distribution data of the two pod propellers and the two water-jet propellers based on the environmental resistance data; the controller is in data connection with the data output end of the thrust distribution module and is used for receiving the thrust distribution data and controlling the course of the pushing ship and the barge; and the course verification module is used for detecting the actual course of the barge during navigation and giving an alarm when the course of the barge is abnormal. The self-propulsion capability of the barge can be improved.