Dynamics model and maneuverability of a novel AUV with a deflectable duct propeller

The vector propulsion systems have been equipped in numerous autonomous underwater vehicles (AUVs) nowadays. In most cases, the vector propulsion is achieved by changing the direction of the entire vector propulsion system, which requires a spacious room for complex mechanical structures at the tail of the AUV. The deflectable duct propeller, however, as a new way to achieve vector propulsion, can generate lateral force and moment enabling the AUV to perform various motions. In this work, the 6-DOF notion model of the novel AUV with a deflectable duct propeller is developed based on the Newton's and Euler's equation, considering the forces and moments generated by the deflectable duct propeller. And a CFD model is proposed to estimate performance of a deflectable duct propeller. The motion simulations including 2D longitudinal motions, 2D lateral motions and 3D space motions, are conducted to analyze the maneuvering performance of the novel AUV with a deflectable duct propeller, and simulation results illustrate that the novel AUV with a deflectable duct propeller has a better maneuverability than traditional propeller-rudder system.