TY  - JOUR
AU  - WU, Zhe
AU  - DU, Tingpeng
AU  - XU, Qingxiang
AU  - HE, Elong
AU  - YANG, Yunshi
PY  - 2026
TI  - Experimental study on powered diving technology for deep-sea vehicles based on vectored propulsion
JO  - Chinese Journal of Ship Research
SN  - 1673-3185
SP  - 205
EP  - 211
VL  - 21
IS  - 2
AB  - ObjectiveThis study investigates the motion characteristics of deep-sea vehicles during deep vertical transit under vectored propulsion.MethodFirst, the motion equations were established to obtain preliminary solutions for the parameters of helical diving. Subsequently, a series of lake trials were conducted using a vectored-propulsion deep-sea vehicle prototype, including steady-state turning diameter tests, heeling angle measurements, and powered helical diving experiments under multiple control parameters, in order to analyze the diving motion characteristics. Finally, a 3 650 m powered diving test was performed under real operating conditions at a depth of 3 700 m in the South China Sea.ResultsThe lake trial results show that the steady turning diameter of the vector-propelled deep-sea vehicle is only 4 times the overall length of the platform, while the turning heel angle remains within 2.5°. The sea trial results indicate that, under the selected control parameters, the average deep-sea diving speed reaches 0.6 m/s, the standard deviation of the pitch angle is only 0.42°, and the horizontal offset during the 3 650 m diving process is 442 m. These results demonstrate stable and controllable motion characteristics, verifying the feasibility of the powered diving technology for deep-sea vehicles based on vectored propulsion. Conclusion The results provide a reference for the research on diving technologies for deep-sea vehicles.
UR  - https://doi.org/10.19693/j.issn.1673-3185.04555
DO  - 10.19693/j.issn.1673-3185.04555