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<p>To enhance the stability and safety of underwater vehicle operations, this paper investigates the vector propulsion shaft system (VPSS) and establishes a dynamic model for longitudinal-torsional coupled vibrations.This model is derived from ordinary differential equations and systematically incorporates key external excitation factors such as propeller hydrodynamic characteristics and friction torque to more accurately reflect the dynamic characteristics of the VPSS under actual operating conditions.Based on this, the resulting differential equations were numerically solved using the Runge-Kutta algorithm, with a focus on analyzing the effects of varying axis angles <i>β</i> and rotational speed on the longitudinal-torsional coupled dynamic behavior of the VPSS.To further reduce the amplitude of coupled vibrations and prevent fatigue failure in the system, this study developed a fuzzy adaptive PID method for controlling the VPSS. The results show that the proposed control method can suppress the vibration level at the VPSS output end by an average of over 20%. Furthermore, this method effectively eliminates self-excited vibrations at low rotational speeds, significantly enhancing the safety performance of underwater vehicles. In summary, this study provides valuable technical references for improving the operational stability and reliability of VPSS.</p>

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Longitudinal-torsional coupled vibration and adaptive control analysis of vector propulsion shaft systems

  • 期刊论文

  • 发表日期：

    2026年5月8日

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  • Zhengyu Chen,
  • Yingchun Jia,
  • Wenqi Tang,
  • Yujun Wang,
  • Shuaishuai Li,
  • Songmei Li

摘要

To enhance the stability and safety of underwater vehicle operations, this paper investigates the vector propulsion shaft system (VPSS) and establishes a dynamic model for longitudinal-torsional coupled vibrations.This model is derived from ordinary differential equations and systematically incorporates key external excitation factors such as propeller hydrodynamic characteristics and friction torque to more accurately reflect the dynamic characteristics of the VPSS under actual operating conditions.Based on this, the resulting differential equations were numerically solved using the Runge-Kutta algorithm, with a focus on analyzing the effects of varying axis angles β and rotational speed on the longitudinal-torsional coupled dynamic behavior of the VPSS.To further reduce the amplitude of coupled vibrations and prevent fatigue failure in the system, this study developed a fuzzy adaptive PID method for controlling the VPSS. The results show that the proposed control method can suppress the vibration level at the VPSS output end by an average of over 20%. Furthermore, this method effectively eliminates self-excited vibrations at low rotational speeds, significantly enhancing the safety performance of underwater vehicles. In summary, this study provides valuable technical references for improving the operational stability and reliability of VPSS.