Systems and methods to generate post-swirl propulsor side forces

摘要

Systems and methods for maneuvering an underwater vehicle by generating vehicle maneuvering forces from a propulsor of the vehicle are provided. A post-swirl propulsor is configured such that pitch angles of downstream stator blades can be individually varied. The variation in pitch results in the generation of multiple forces and moments for vehicle control.

主权项

1. A post-swirl propulsor system for maneuvering an underwater vehicle, said post-swirl propulsor system comprising:
a rotor positioned on an exterior circumference of the vehicle; a plurality of stator blades positioned on the exterior circumference downstream of said rotor with each of said blades including a shaft extending into an interior of the vehicle, wherein a pitch angle of said stator blades can vary about the circumference of the vehicle; a plurality of servo-motors interior to the vehicle with each servo-motor connected to each said stator blade by a movement of an actuator arm on the shaft of said stator blade; a controller operationally connected to said servo-motors wherein said controller coordinates the actions of said servo-motors with a result of the pitch angle of each said stator blade being separately adjustable by actuation of said servo-motor by said controller wherein the movement of the actuator arm engages the shaft to rotate said stator blade for an adjusted pitch angle; and a protective shroud extending about said rotor; wherein a thrust flow from said rotor is capable of combining with a circumferentially varying flow from said stator blades to produce a stator side force at varying angles to a longitudinal axis of the vehicle, the side force of said stators is inversely proportional to an advance ratio indicative of a forward distance generated thru a full rotation of said rotor where the advance ratio “J” is calculated from an equation J=V/nD where “V” is a flow velocity, “n” is a rotational velocity in Hz and “D” is a diameter of said rotor.