Research on the Motion Characteristics of X-rudder Underwater Vehicle with Rudder Jamming State Considering Local Attack Angle Correction
There is a significant difference in the rudder force on different rudder blades during a rudder jamming accident of the X-rudder underwater vehicle,which traditional mathematical models of maneuvering motion cannot represent.This paper proposes a new model of maneuvering motion based on accurately characterizing the local inflow angle on the rudder surface,which has been verified through self-navigation model experiments of single rudder jamming under small rudder angles.Simulation results of the recovery process using the original rudder force expression are compared with that using the modified rudder force expression for the dual rudder jamming state with a large rudder angle.The results show that the recovery conclusions of the two models are opposite,mainly because the new model accurately reflected the asymmetric characteristics of the upper and lower flow around the X-rudder.
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