Modeling and simulation of SAUV vectored thruster on dynamics

To providing an effective thruster for Solar-powered Autonomous Underwater Vehicle (SAUV), a new-style vectored thruster is proposed. According to Lagrange equation, the dynamics equation of vectored thruster is attained. Through designing solid model of vectored thruster with 3D model software and analyzing dynamics equation of vectored thruster with ADAMS, the characteristics of kinematics and dynamics of the thruster are acquired and then the problem of additionally turning motion caused by rolling motion of vectored thruster is resolved. The design theory and parameters of SAUV vectored thruster will be supplied by above-mentioned research.