Comparative study on the horizontal turning performance of vector pump jet propulsion submersible

Vector thruster, enhancing low-speed control efficiency and course-changing capability of submersibles, has increasingly become a prominent research focus globally. This paper investigates nonlinear effects of underwater vehicle parameters under large rudder (nozzle angles), developing a nonlinear model for horizontal maneuvering dynamics. MATLAB simulations of Z-shaped steering trials at maximum pump speed and constant axial velocity compared the course-changing performance of rudder-propeller, vector thruster, and rudder-vector thruster configurations to determine optimal maneuvering strategies. At the maximum speed, the initial rotation period of rudder-vectoring thruster system is 1.36 and 1.45 s shorter than that of rudder-thruster system and vectoring thruster system, respectively, the overrunning time is 1.04 and 1.09 s shorter than that of rudder-thruster system and vectoring thruster system, respectively, the overrunning period is 7.59 and 8.55 s shorter than that of rudder-thruster system and vectoring thruster system respectively, and the overrunning heading angle of rudder-vectoring thruster system is the largest; the initial turning period, beyond the horizon, beyond the initial angle, and period of the rudder vector thruster system under the control of axial speed will all increase. Two scenarios prove that vector thruster can effectively improve the bow turning performance of underwater vehicles.