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As an ocean mobile observation platform,the traditional underwater glider plays an important role in ocean environment exploration due to its advantages of low cost,low power consumption and strong endurance.In order to improve the maneuvering performance of the underwater glider and meet the requirements of horizontal maneuvering observation of ocean phenomena such as thermocline,this paper takes the tail-rudder pump-jet propulsion underwater glider as the research object.Based on the traditional underwater glider,the pumpjet propulsion underwater vehicle is a kind of hybrid driven underwater vehicle with pump-jet thrusters,which has the ability of long endurance and fast maneuvering,and can be qualified for different ocean observation tasks.At present,the research on the dynamic model of underwater glider at home and abroad is mainly focused on the roll steering underwater glider,while the research on the tail steering underwater glider is relatively few.At the same time,there is no mature method to design the tail rudder of underwater glide.In addition,the research on the influence of the position of tail steering gear on the motion stability of underwater glider is not deep enough.Therefore,it is of great significance to establish an accurate dynamic model of the tail-type pump-jet propulsion underwater glider,to design the tail-type rudder,to study the motion stability and maneuverability for expanding the underwater glider’s environmental application.The main research work of this paper is as follows:1.Completed the comparative analysis of the steering principle of the roll type and the tail-rudder type pump-jet propulsion underwater glider;The subsystem models of the tailrudder pump-jet propulsion underwater glider,such as pitch regulating device model,buoyancy regulating device model,tail-rudder hydrodynamic model and pump-jet propeller model,are established.Based on the theorem of momentum and moment of momentum,the six-degreeof-freedom dynamic equations of the tail-rudder pump-jet propulsion underwater glider are obtained.2.The accuracy of CFD numerical simulation method is verified by comparing with the experimental data of the rudder wing in the references;The effects of airfoil profile,aspect ratio and sweep Angle on the hydrodynamic performance of the tail rudder are simulated and analyzed,and the structural parameters of the tail rudder are determined by considering the characteristics of lift force and lift-drag ratio.3.Based on Routh stability criterion,the motion stability judgment formula of the underwater glider is deduced.From the Angle of horizontal plane stability,the analysis of tailrudder installation position is completed.Considering other attached structures of the underwater glider,the hydrodynamic shape of the tail-rudder pump-jet propulsion underwater glider is determined,and it is proved that the shape has linear stability in the horizontal plane.4.Based on the Runge Kutta algorithm,the numerical solution of the dynamic model of the tail-rudder pump-jet propulsion underwater glider is completed;The steering maneuverability of the underwater glider under the sawtooth gliding,fixed-depth propulsion and hybrid drive modes is simulated and studied,and the rationality of the tail rudder design is verified.Combined with the sea test data,it is proved that the tail-rudder pump-jet propulsion underwater glider has good maneuverability and stability.