基于Sobol’法的Petrel-Ⅱ水下滑翔机能耗参数灵敏度分析

Sensitivity Analysis of Energy Consumption Parameters for Petrel-Ⅱ Underwater Glider Based on Sobol' Method

水下滑翔机作为一种新型水下航行器,可通过浮力驱动实现多剖面连续运动.由于其强大的续航能力和较高的隐蔽性,被广泛应用于海洋调查和军事探测等领域.商业化水下滑翔机大多由自身携带的电池提供能源,由于电量限制,需开发更低功耗的水下滑翔机.本文基于动力学和流体力学理论,结合水下滑翔机工作流程和单元试验数据,建立了Petrel-Ⅱ水下滑翔机的单剖面能耗模型,海试数据表明,模型计算误差仅为实际能耗的1.3%,.采用Sobol’全局灵敏度分析方法得到了航行参数和设计参数对水下滑翔机能耗的1阶灵敏度和总灵敏度.结果表明,滑翔机下潜深度h、俯仰角度θ和航行速度V对单剖面能耗影响有着重要影响,其1阶灵敏度系数分别为0.388,8、0.227,2和0.138,0,总灵敏度系数分别为0.478,0、0.301,2和0.247,2.滑翔机纵向力系数Cx和横截面积S的灵敏度处于中间水平,其1阶灵敏度系数分别为0.044,0和0.034,5,总灵敏度系数分别为0.081,8和0.066,5.浮力驱动点位置lb、滑翔机总重G和垂向力系数Cy的1阶灵敏度系数和总灵敏系数均接近零,其值的波动对水下滑翔机单剖面能耗几乎不产生影响.

As a new type of underwater vehicle,underwater glider can be driven by buoyancy to realize the continuous movement of multi-profile.Due to its strong endurance and high concealment,it has been widely used in the fields of ocean investigation and military exploration.Most commercial underwater gliders are provided by their own batteries,whose limited capacity calls for the development of underwater gliders with lower power consumption.In this paper,based on the theories of dynamics and hydrodynamics and combined with the working process and unittest data of the under water glider,the energy consumption model of a single profile of the Petrel-Ⅱunderwater glideris established.Sea trial data show that the calculation error of the model is only 1.3%, of the actual energy consumption.The first-order sensitivity and total sensitivity of navigation and design parameters towards energy consumption are calculated using Sobol’ global sensitivity analysis method.The results demonstrate that the diving depth h,pitchangle θ and speed V of the glider have great influence on the energy consumption of a single profile with the first order sensitivity coefficients being 0.388,8,0.227,2 and 0.138,0 and total sensitivity coefficients being 0.478,0,0.301,2and 0.247,2,respectively.The sensitivity of the longitudinal force coefficient Cx and the sectional area S of the glider is in the middle level with the first-order sensitivity coefficients being 0.044,0 and 0.034,5 and total sensitivity coefficientsbeing 0.081,8 and 0.066,5,respectively.The first-order sensitivity coefficients and total sensitivity coefficients of buoyancy-driven position lb,total weight G and the vertical force coefficient Cy are close to zero.Therefore,the fluctuation of their values has little effect on the energy consumption of single profile of underwater glider.