【作者】 武建国；

【导师】 陈超英； 王树新；

【作者基本信息】 天津大学 ， 机械电子工程， 2010， 博士

【摘要】 无人水下滑翔器(Autonomous Underwater Glider,AUG)是一种利用浮力驱动的新型无人水下航行器,具有续航能力大、噪音小、成本低等优点,航程在几千公里量级上;然而,采用浮力驱动的水下滑翔器只能以锯齿形轨迹航行,且航速较慢。水下自航行器(Autonomous Underwater Vehicle,AUV)一般采用螺旋桨驱动,具有较高的机动性和较快的航速;但AUV航程一般很短,在几百公里量级上。本文将AUG和AUV两者优点集于一身,开发了一种具备浮力驱动和螺旋桨驱动系统的混合驱动水下滑翔器海燕(PETREL)。针对开发过程遇到的关键问题,研究了混合驱动水下滑翔器机械系统方案,然后对整体系统进行了详细设计,采用计算流体力学(Computational Fluid Dynamics,CFD)方法分析了主要水动力部件的水动力特性;建立了其一般运动学方程,在此基础上研究了纵平面内的平衡特性和运动稳定性。水域航行试验实现了预期设计功能,验证了本文分析和仿真的正确性。本文主要研究成果和创新点为:1.研究和设计了混合驱动水下滑翔器样机PETREL。实现了同一航行器具有浮力驱动下滑翔和螺旋桨驱动下直线航行以及机动航行功能的目标。2.建立了混合驱动水下滑翔器的动力学模型,并采用CFD方法获取了表征混合驱动水下滑翔器特征的水动力参数。采用Matlab编写了可视化的动力学仿真程序,为航行器参数评定和设计提供了方便。3.采用CFD方法对PETREL主要部件的水动力特性进行了分析和优化设计。分析结果为机翼、尾舵设计提供了水动力学依据;给出了螺旋桨导流罩和整体流场的水动力特性。4.提出了水下滑翔器浮力驱动效率以及滑翔航行效率的概念,并对其进行了较为详细的分析计算。揭示了影响驱力驱动效率以及滑翔航行效率的因素,为高性能水下滑翔器的设计提供了理论上的指导。更多还原

【Abstract】 Autonomous underwater glider (AUG) is a new type of autonomous underwater vehicle (AUV) propelled by buoyancy. AUGs have many advantages, such as low noise, low cost, and long endurance in the order of several thousand kilometers. But they can only travel in a sawtooth pattern at a low speed. AUVs are usually driven by a propeller. They have high maneuverability and velocity, but their range is relatively short, usually up to an order of hundreds of kilometers. This paper develops a hybrid-driven underwater glider PETREL by combining the advantages of AUGs and AUVs. PETREL is equipped with both buoyancy-driven system and propeller- driven system.This paper focuses on the mechanical system of the hybrid-driven underwater gliders. The whole system is designed in detail. The characteristics of main hydrodynamic components are studied using Computational Fluid Dynamics (CFD). The equilibrium characteristics and motion stability are studied based on the general equations of motion. All the expected design capabilities of the AUG are fulfilled. The analysis and simulation results were verified by lake trials. The main contributions of this thesis are summarized as follows:1. A prototype of the hybrid-driven underwater glider PETREL is proposed to achieve the goal that one underwater vehicle can glide with the buoyancy-driven system and maintain level flight with the propeller-driven system.2. The dynamic model of PETREL is formulated. The hydrodynamic parameters are obtained using CFD software and a visual dynamics simulation software is developed using Matlab. The software facilitates parameter evaluation and design of PETREL.3. Characteristics of the main hydrodynamic components of PETREL are analyzed and optimized using CFD method. The results provide the hydrodynamic basis for design of wings and rudders, and give the hydrodynamic characteristics of the propeller shroud and the flow field.4. The efficiency of buoyancy-driven and the efficiency of navigation of AUGs are defined. Detailed analysis and calculation of these two efficiencies are carried out. Factors that impact the buoyancy-driven efficiency and the navigation efficiency are revealed. The parameter study provides a theoretical guidance for high-performance underwater glider design.更多还原