摘要
Abstract
The increasing demand for specialized cross-domain operations in both military and civilian scenarios has positioned the design and development of high-speed unmanned amphibious vehicles at the forefront of emerg-ing equipment research.This research addresses two primary challenges during water navigation:maneuvering dif-ficulties caused by underactuated propulsion systems and poor stability resulting from hull disturbances.To resolve these issues,thrust vector control is proposed to enhance the maneuverability,controllability,and stability of the vehicle in aquatic environments.First,a vector-propelled amphibious vehicle platform tailored for high-speed au-tonomous operations was designed.Second,an integrated design approach encompassing the pump,hull,and vec-tor nozzle was applied to complete the propulsion system design and optimize key parameters.Subsequently,a multi-system collaborative hardware and software architecture was constructed.Finally,full-scale vehicle tests were conducted to evaluate navigational and maneuvering performance.Experimental results indicate that the vec-tor propulsion system effectively improves the maneuverability and stability of the amphibious vehicle,demonstrat-ing excellent steering response and spatial motion capabilities,along with a 51.29%reduction in the standard de-viation of the pitch angle under wave conditions.These research findings are applicable to enhancing the maneuver-ing stability of high-speed unmanned amphibious platforms operating in inland and coastal waters,providing techni-cal support for missions such as amphibious reconnaissance,emergency disaster response,and cross-domain mate-rial delivery.关键词
两栖车辆/矢量喷水推进/操纵性/稳定性/系统设计/伺服控制/遥控系统/两栖车试验Key words
amphibious vehicle/vector water-jet propulsion/maneuverability/stability/system design/servo control/remote control system/amphibious vehicle test分类
交通工程
