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Mathematical Modeling and Dynamic Analysis of a Compact Vectored Thruster

Abstract In this paper, a compact vectored thruster based on a composite gear train is proposed. First, the space transformation between different coordinate systems is carried out, and the mathematical model of the vectored thruster is established, according to classical
 navigation mechanics theory. Then, the swing and roll motion analysis of the composite gear train is implemented, and the motion relationship of the whole thruster structure is analyzed systematically. Moreover, SolidWorks and MATLAB software are used for simulation to verify the accuracy
 of the mathematical model. In addition, the trajectories of the propeller shaft under different motion modes are analyzed and compared. Finally, the dynamic analysis of the vectored thruster is carried out, and the change trend of the scaling factors of the vector thrust components with the
 swing angle δ and the roll angle χ is studied, and comparison with the scaling factors of the vectored water jet propeller presented in other literature is taken into account. To endow the thruster with superior maneuverability, the fairwater structure of the vectored thruster is
 optimized, and the lateral vector component of the optimized vectored thruster is greatly increased.