试验型水下滑翔机的动力学分析及实验（英文）
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摘要
水下滑翔机是一种新型的无推进装置的水下运载器,它是由净浮力来驱动的,同时通过内部的直线驱动器来改变重心的位置以实现姿态的调节。对于大多数水下滑翔机,浮力机构是通过改变自身排水体积来实现的,文中介绍了一种变重量的水下滑翔机的设计、动力学分析以及实验过程,该浮力调节机构主要由单向水泵和三位五通电磁阀组成,最大下潜深度为30米。文中介绍了水下滑翔机的运动方程和动力学特性,并且给出了在稳定时刻的解,并且通过计算流体力学的方法对水下滑翔机的水动力特性进行了分析。仿真和实验结果证明了该水下滑翔机的可靠性及实用性。
In this paper, the design, implementation, and experiments of a weight-varied underwater are presented. The realization of the buoyancy engine is mainly accomplished by a unidirectional water pump and a three position five-way solenoid valve. The glider is designed to operate within 30 meters deep down to the water surface, and the detailed design process is introduced. The glider's equation of motion and dynamic features are presented and the steady-state solution is analyzed. The hydrodynamic coefficients are also calculated by using Computational Fluid Dynamics(CFD) method. Simulation and experimental results show the reliability and utility of the underwater glider.
In this paper, the design, implementation, and experiments of a weight-varied underwater are presented. The realization of the buoyancy engine is mainly accomplished by a unidirectional water pump and a three position five-way solenoid valve. The glider is designed to operate within 30 meters deep down to the water surface, and the detailed design process is introduced. The glider's equation of motion and dynamic features are presented and the steady-state solution is analyzed. The hydrodynamic coefficients are also calculated by using Computational Fluid Dynamics(CFD) method. Simulation and experimental results show the reliability and utility of the underwater glider.
引文
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[5]Webb D C,Simonetti P J,Jones C P.SLOCUM:An underwater glider propelled by environmental energy[J].Oceanic Engineering,2001,26:447-52.
[6]Alvarez A,Caffaz A,Caiti A,Casalino G,Gualdesi L,Turetta A,et al.Folaga:A low-cost autonomous underwater vehicle combining glider and AUV capabilities[J].Ocean Engineering,2009,36:24-38.
[7]Wang S X,Sun X J,Wang Y H,Wu J G,Wang X M.Dynamic modeling and motion simulation for a winged hybriddriven underwater glider[J].China Ocean Engineering,2011,25:97-112.
[8]Graver J G.Underwater gliders:Dynamics,control and design[M].Citeseer,2005.
[9]Kawaguchi K,Tomoda Y,Kobayashi H,Ura T.Development and sea trials of a shuttle type AUV‘ALBAC’[C].International Symposium on Unmanned Untethered Submersible Technology:University of New Hampshire-Marine Systems,1993:7.
[10]Manley J,Willcox S.The wave glider:A persistent platform for ocean science[J].OCEANS 2010 IEEE-Sydney:IEEE,2010:1-5.
[11]Bhatta P.Nonlinear stability and control of gliding vehicles[M].Princeton:Princeton University,2004.
[12]Isa K,Arshad M,Ishak S.A hybrid-driven underwater glider model,hydrodynamics estimation,and an analysis of the motion control[J].Ocean Engineering,2014,81:111-29.
[2]Rudnick D L,Davis R E,Eriksen C C,Fratantoni D M,Perry M J.Underwater gliders for ocean research[J].Marine Technology Society Journal,2004,38:73-84.
[3]Eriksen C C,Osse T J,Light R D,Wen T,Lehman T W,Sabin P L,et al.Seaglider:A long-range autonomous underwater vehicle for oceanographic research[J].Oceanic Engineering,2001,26:424-36.
[4]Sherman J,Davis R,Owens W,Valdes J.The autonomous underwater glider‘Spray’[J].Oceanic Engineering,2001,26:437-46.
[5]Webb D C,Simonetti P J,Jones C P.SLOCUM:An underwater glider propelled by environmental energy[J].Oceanic Engineering,2001,26:447-52.
[6]Alvarez A,Caffaz A,Caiti A,Casalino G,Gualdesi L,Turetta A,et al.Folaga:A low-cost autonomous underwater vehicle combining glider and AUV capabilities[J].Ocean Engineering,2009,36:24-38.
[7]Wang S X,Sun X J,Wang Y H,Wu J G,Wang X M.Dynamic modeling and motion simulation for a winged hybriddriven underwater glider[J].China Ocean Engineering,2011,25:97-112.
[8]Graver J G.Underwater gliders:Dynamics,control and design[M].Citeseer,2005.
[9]Kawaguchi K,Tomoda Y,Kobayashi H,Ura T.Development and sea trials of a shuttle type AUV‘ALBAC’[C].International Symposium on Unmanned Untethered Submersible Technology:University of New Hampshire-Marine Systems,1993:7.
[10]Manley J,Willcox S.The wave glider:A persistent platform for ocean science[J].OCEANS 2010 IEEE-Sydney:IEEE,2010:1-5.
[11]Bhatta P.Nonlinear stability and control of gliding vehicles[M].Princeton:Princeton University,2004.
[12]Isa K,Arshad M,Ishak S.A hybrid-driven underwater glider model,hydrodynamics estimation,and an analysis of the motion control[J].Ocean Engineering,2014,81:111-29.