Investigation of the efficiency of side thrusters of autonomous unmanned underwater vehicles

Investigation of the efficiency of side thrusters of autonomous unmanned underwater vehicles

Alexander V. Yurkanskiy
Central Design Bureau for Marine Engineering «Rubin» (CDB ME «Rubin»), Head of Sector, 90, ul. Marata, Saint Petersburg, 191119, Russia, tel.: +7(812)494-16-36, This email address is being protected from spambots. You need JavaScript enabled to view it.

Ivan I. Remizov
CDB ME «Rubin», Designer, 90, ul. Marata, Saint Petersburg, 191119, Russia, tel.: +7(812)494-16-36, This email address is being protected from spambots. You need JavaScript enabled to view it.

Sergey A. Polovko
PhD in Technical Sciences, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Research Center, Research Advisor of Center, Leading Research Scientist, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-47-64, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay A. Tschur
PhD in Physics and Mathematics, RTC, Mathematician, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-2480-6861, Recearcher ID: AAH-8421-2019

Received July 1, 2024

Abstract
The paper represented the study of the efficiency of side thrusters (ST) on the marching modes of motion of an autonomous uninhabited underwater vehicle (AUV). Literature data on low efficiency of thrusters without specifying the location of thrusters are given. Calculations of AUV streamline with a horizontal ST operating for two variants of location are carried out. It is shown that the efficiency of the front and rear ST depends differently on the speed of the onrushing flow, and at high speeds the efficiency of the rear ST can even increase relative to the stationary state of the AUV. Calculations of the dynamics of the controlled motion of an AUV with depth and trim control by means of only thrusters and by means of ST have been carried out. It has been convincingly shown that the use of ST in marching modes is not reasonable.

Key words
Autonomous Unmanned Underwater Vehicle (AUV), thrusters, jets from thrusters, induced forces and moments.

Acknowledgements
The results were obtained as part of the implementation of the state task of the Ministry of Education and Science of Russia for 2024 No. 075-00697-24-00 dated December 27, 2023 FNRG-2022-0017 1021060307691-2-1.2.1;2.2.2 «Development of the theory of synthesis of optimal control of hyper-redundant underwater robots in conditions of unpredictable unsteady currents and flows.

DOI
10.31776/RTCJ.12408

Bibliographic description
Yurkanskiy, A.V., Remizov, I.I., Polovko, S.A. and Tschur, N.A. (2024), "Investigation of the efficiency of side thrusters of autonomous unmanned underwater vehicles", Robotics and Technical Cybernetics, vol. 12, no. 4, pp. 305-314, DOI: 10.31776/RTCJ.12408. (in Russian).

UDC identifier
629:58:629.5.061.117.17

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