混合驱动无人水下滑翔机耦合运动响应数值预报

Numerical Prediction of Coupled Motion Response of Hybrid Driven Unmanned Underwater Glider

为提高推进与滑翔模式下混合驱动无人水下滑翔机(Hybrid Driven Unmanned Underwater Glider,HUG)运动控制精度,基于黏性流体理论,采用滑移与随体动网格技术,耦合求解运动响应方程,进行HUG全耦合运动响应数值预报研究,开展推进模式下HUG在水平面内直航运动、绕圆运动与滑翔模式下HUG下潜和上浮运动的数值预报,分析在推进器同步推进和差速回转下HUG的运动响应及不同重心位置对HUG滑翔姿态的影响。研究成果对HUG的结构与控制系统设计具有重要的指导意义。

In order to improve the motion control accuracy of Hybrid Driven Unmanned Underwater Glider(HUG)under propulsion and glide modes,based on the theory of viscous fluids,the slip and moving body mesh techniques are used to solve the motion response equation of the HUG.The numerical prediction of the fully coupled motion response of the HUG is studied.The direct motion and circular motion of the HUG in the horizontal plane under the propulsion mode and the dive and upward movement of the HUG under the glide mode are numerically predicted.The motion response of the HUG and the effect of different center of gravity positions on the glide attitude of the HUG are analyzed under synchronous propulsion and differential rotation.The research results are of important guiding significance for the design of the structure and control system of HUG.