@article{WU2026, 
author = {Zhe WU and Tingpeng DU and Qingxiang XU and Elong HE and Yunshi YANG},
title = {Experimental study on powered diving technology for deep-sea vehicles based on vectored propulsion},
year = {2026},
journal = {Chinese Journal of Ship Research},
volume = {21},
number = {2},
pages = {205-211},
keywords = {ocean engineering, unmanned underwater vehicle, deep-sea vehicles, vectored propulsion, powered diving},
url = {https://www.sciopen.com/article/10.19693/j.issn.1673-3185.04555},
doi = {10.19693/j.issn.1673-3185.04555},
abstract = {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.}
}