混合驱动水下滑翔机变翼系统研究

Study on controllable wings system of hybrid-driven underwater gliders

基于混合驱动水下滑翔机对变翼功能的实际需求,设计了平面2自由度连杆机构,以实现机翼展弦比和后掠角的变化。通过运动学正解分析,验证了变翼系统的变体功能。通过运动学位置逆解分析,求解了输出电机角位移与输出杆位姿的关系,并进一步获得了变翼系统工作空间。通过基于原型样机的试验研究与性能测试,验证了变翼方案的可行性。最后,基于计算流体力学方法,对混合驱动水下滑翔机变翼策略进行研究,分析了机翼展弦比和后掠角对水下滑翔机不同工作模式下航行性能的影响,并确定了最佳变翼方案。

Based on the practical demand of controllable wings of hybrid-driven underwater gliders,a planar linkage mechanism is designed to change the aspect ratio and sweep angle. The function of controllable wings is verified by means of the forward kinematics analysis. The relationship between the angular rotation of output motors and the position of output bar is derived by means of the inverse kinematics analysis. Working space is calculated,based on the forward and inverse kinematics analysis.Thanks to the prototype-based experimental studies and performance tests,the feasibility of the design is verified. Finally,by means of the method of computational fluid dynamics,some research on the wing-adjustment strategies of hybrid-driven underwater gliders is conducted,and the influence on flight performance imposed by the aspect ratio and the sweep angle of the wings under different working modes is illustrated. Based on this,the optimal wing-adjustment strategy is identified.