圆碟形水下滑翔机运动仿真分析
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摘要
圆碟形水下滑翔机是一种新型的水下潜器,其全翼身外形使其具有全向运动特性。为了研究圆碟形对水下滑翔机运动性能的影响,本文基于动量(矩)定理建立圆碟形水下滑翔机的运动控制方程,采用四阶龙格-库塔法求解。分别对圆碟形水下滑翔机在垂直面内的直线运动、受外界小幅扰动运动和空间螺旋运动进行了仿真分析。仿真结果表明:圆碟形水下滑翔机的升阻比相比于鱼雷形水下滑翔机较高,其自身受到外界小幅扰动时具有一定的稳定性;空间螺旋运动的螺旋半径、螺距以及周期都远小于鱼雷形水下滑翔机,小空间内的机动能力得到了大幅提高。
A disc-type underwater glider is a new type of underwater vehicle with omnidirectional mobility due to its blended wing body. To study the effect of disc shape on the motion performance of the underwater glider,we established the motion control equation of a disc-type underwater glider based on momentum theorem( moment). Fourth-order Runge-Kutta method was adopted to solve the equation. The linear motion,small disturbance motion in vertical plane,and space spiral motion of the disc-type underwater glider were simulated. Simulation results show that the lift-drag ratio of the disc-type underwater glider is higher than that of other torpedo-type underwater gliders,and the disc-type underwater glider is stable to a certain extent when a small amplitude disturbance occurs in the environment. Furthermore,the space spiral motion radius,pitch,and cycle of the disc-type underwater glider are much less than those of the torpedo-type underwater glider. Thus,the maneuvering ability of the underwater glider in a small space is greatly improved.
A disc-type underwater glider is a new type of underwater vehicle with omnidirectional mobility due to its blended wing body. To study the effect of disc shape on the motion performance of the underwater glider,we established the motion control equation of a disc-type underwater glider based on momentum theorem( moment). Fourth-order Runge-Kutta method was adopted to solve the equation. The linear motion,small disturbance motion in vertical plane,and space spiral motion of the disc-type underwater glider were simulated. Simulation results show that the lift-drag ratio of the disc-type underwater glider is higher than that of other torpedo-type underwater gliders,and the disc-type underwater glider is stable to a certain extent when a small amplitude disturbance occurs in the environment. Furthermore,the space spiral motion radius,pitch,and cycle of the disc-type underwater glider are much less than those of the torpedo-type underwater glider. Thus,the maneuvering ability of the underwater glider in a small space is greatly improved.
引文
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[15]武建国,陈超英,王树新,等.混合驱动水下滑翔器滑翔状态机翼水动力特性[J].天津大学学报,2010,43(1):84-89.WU Jianguo,CHEN Chaoying,WANG Shuxin,et al.Hydrodynamic characteristics of the wings of hybrid-driven underwater glider in glide mode[J].Journal of Tianjin University,2010,43(1):84-89.
[16]李志伟,崔维成.水下滑翔机水动力外形研究综述[J].船舶力学,2012,16(7):829-837.LI Zhiwei,CUI Weicheng.Overview on the hydrodynamic performance of underwater gliders[J].Journal of ship mechanics,2012,16(7):829-837.
[17]王振宇.翼型水下滑翔机性能数值优化与运动特性问题研究[D].沈阳:中国科学院沈阳自动化研究所,2018:79-86.WANG Zhenyu.Research on hydrodynamic performance optimization and dynamic behaviors for fly-wing structure underwater gliders[D].Shenyang:Shenyang Institution Automation Chinese Academy of Sciences,2018:79-86.
[18]赵宝强,王晓浩,姚宝恒,等.水下滑翔机三维定常运动建模与分析[J].海洋技术学报,2014,33(1):11-18.ZHAO Baoqiang,WANG Xiaohao,YAO Baoheng,et al.Three-dimensional steady motion modeling and analysis for underwater gliders[J].Journal of ocean technology,2014,33(1):11-18.
[2]NAKAMURA M,KOTERAYAMA W,INADA M,et al.Disk-type underwater glider for virtual mooring and field experment[J].International journal of offshore and polar engineering,2009,19(1):66-70.
[3]NIEWIADOMSKA K,JONES C,WEBB D.Design of a mo-bile and bottom-resting autonomo-us un-derwater gliding vehicle[C]//Proceeding of the 13th International Symposium on Unmanned Untethered Submersible Technology.Durham New Hampshire:Autonomous Undersea Systems Institute,2003.
[4]王天.新型碟形水下机器人及其航姿预测控制系统研究[D].哈尔滨:哈尔滨工程大学,2013:21-34.WANG Tian.Researches on a novel dish-like underwater robot and attitude predictive control[D].Harbin:Harbin Engineering University,2013:21-34.
[5]张超.圆碟形水下机器人的设计及运动控制[D].哈尔滨:哈尔滨工程大学,2013:15-24.ZHANG Chao.The design and motion control of round dish-shaped underwater vehicle[D].Harbin:Harbin Engineering University,2013:15-24.
[6]张怀新,潘雨村.圆碟形潜水器阻力性能研究[J].上海交通大学学报,2006,40(6):978-982,987.ZHANG Huaixin,PAN Yucun.The resistance performance of a dish-shaped underwater vehicle[J].Journal of Shanghai Jiao Tong university,2006,40(6):978-982,987.
[7]张怀新,潘雨村.CFD在潜艇外形方案比较中的应用[J].船舶力学,2006,10(4):1-8.ZHANG Huaixin,PAN Yucun.Application CFD to compare submarine hull forms[J].Journal of ship mechanics,2006,10(4):1-8.
[8]张新曙.碟形潜水器概念研究[D].上海:上海交通大学,2003:24-29,54-58.ZHANG Xinshu.Concept study of dish-spaped underwater vehicle[D].Shanghai:Shanghai Jiao Tong University,2003:24-29,54-58.
[9]赵宝强.碟形水下滑翔机动态稳定性建模仿真研究[J].舰船科学技术,2016,38(7):82-86.ZHAO Baoqiang.Study of modeling and simulation of discunderwater glider dynamic stability[J].Ship science and technology,2016,38(7):82-86.
[10]施生达.潜艇操纵性[M].北京:国防工业出版社,1995:10-12.
[11]GOLDSTEIN H,REVIEWER V T.Classical mechanics[J].Physics Today,1952,5(9):19.
[12]张晶.潜艇运动建模及简化技术研究[D].哈尔滨:哈尔滨工程大学,2009:11-22.ZHANG Jing.A research on modeling and simplifying of the moving submarine[D].Harbin:Harbin Engineering University,2009:11-22.
[13]MAHMOUDIAN N,GEISBERT J,WOOLSEY C.Dynamics&control of underwater gliders I:steady motions[R].Blacksburg,VA:Virginia Polytechnic Institute&State University,2007.
[14]赵宝强.水下滑翔机水平固定翼设计[J].舰船科学技术,2016,38(1):103-107.ZHAO Baoqiang.The horizontal fixed wing design of underwater glider[J].Ship science and technology,2016,38(1):103-107.
[15]武建国,陈超英,王树新,等.混合驱动水下滑翔器滑翔状态机翼水动力特性[J].天津大学学报,2010,43(1):84-89.WU Jianguo,CHEN Chaoying,WANG Shuxin,et al.Hydrodynamic characteristics of the wings of hybrid-driven underwater glider in glide mode[J].Journal of Tianjin University,2010,43(1):84-89.
[16]李志伟,崔维成.水下滑翔机水动力外形研究综述[J].船舶力学,2012,16(7):829-837.LI Zhiwei,CUI Weicheng.Overview on the hydrodynamic performance of underwater gliders[J].Journal of ship mechanics,2012,16(7):829-837.
[17]王振宇.翼型水下滑翔机性能数值优化与运动特性问题研究[D].沈阳:中国科学院沈阳自动化研究所,2018:79-86.WANG Zhenyu.Research on hydrodynamic performance optimization and dynamic behaviors for fly-wing structure underwater gliders[D].Shenyang:Shenyang Institution Automation Chinese Academy of Sciences,2018:79-86.
[18]赵宝强,王晓浩,姚宝恒,等.水下滑翔机三维定常运动建模与分析[J].海洋技术学报,2014,33(1):11-18.ZHAO Baoqiang,WANG Xiaohao,YAO Baoheng,et al.Three-dimensional steady motion modeling and analysis for underwater gliders[J].Journal of ocean technology,2014,33(1):11-18.