水下滑翔器动力学建模及优化设计(英文)

Dynamic Modeling and Optimization Design on Underwater Gliders

水下滑翔器是广泛应用于海洋观测的新型浮力驱动设备。它通过改变重、浮力的比例实现垂直方向运动,通过固定水平翼以及改变浮心和重心的相对位置实现水平方向的运动。文章使用吉布斯函数和阿佩尔方程建立了水下滑翔器动力学模型并指导水下滑翔器设计。首先获得能够建立水下滑翔器动力学特性和内部各移动重物关系的模型。然后,使用计算流体力学软件Fluent获得模型中水动力参数的数值。考虑固定水平翼位置影响,文中以减小能量消耗为目标,给出水平翼的较优位置设计。最后,通过水下滑翔器模型水域试验数据和仿真的对比,证明了动力学模型和水下滑翔器设计的有效性。

Underwater gliders are new floatation devices that are used extensively for oceanographic analysis.The vertical motion of underwater gliders is determined by the gliders＇ buoyancy to gravity specific ratio.The horizontal motion is controlled by the fixed horizontal wings and the relative position of gravity and buoyancy center.In this paper,the dynamics and design of underwater gliders are studied using Gibbs function and Appell equations.In the first step of the analysis,general equations that define the relationship between the moving mass in the glider and the glider＇s dynamics are obtained.Next,Computational Fluid Dynamics（CFD） software FLUENT is used to obtain the glider＇s hydrodynamic parameters for dynamic modeling.Since the position of the wings is one of the most important design parameters,a better optimal position is determined in order to minimize the power consumption.Finally,simulation and experimentation are used to validate the proposed model.