AutoNaut构型波浪滑翔器驱动机构数值模拟

Numerical Simulation of Driving Mechanism of Wave Glider with AutoNaut Architecture

波浪滑翔器是一款利用水下波浪动力转换机构实现波浪推进的水面无人探测平台,它出色的续航性能和无污染等优点受到了广泛的关注和认可。但是由于波浪滑翔器复杂的双体结构会导致其对作业水深有一定要求,且存在弱机动性、布放回收较为苛刻等缺点,制约了其全海况覆盖的发展。为了克服上述缺点,研发了一种新型的利用升沉-俯仰共同驱动的波浪滑翔器(AutoNaut architecture wave glider, ANWG)。首先,分析了ANWG推进机理,确定了其总体功能要求和设计目标,并完成了ANWG样机的总体结构设计;其次,进行了ANWG初步海试实验,对浮体船运动响应进行了分析,通过AQWA软件仿真计算,确定了ANWG浮体船的水动力参数,并基于浮体船的运动响应建立了被动扑动水翼的数值模型,得到了最佳的前后水翼弹簧刚度系数;最后,开展了ANWG自航行海试实验,通过实验得到的推力和水翼摆角等因素与仿真结果进行了对比,结果验证了理论分析和仿真结果的正确性和可靠性。

The wave glider is a surface unmanned detection platform and wave propulsion is realized by using wave power conversion mechanism. Its excellent endurance performance and pollution-free have been widely concerned and recognized. However, due to the complex dual-body structure of the wave glider, it has certain requirements for operating water depth, and it also has some disadvantages such as weak maneuverability and harsh deployment and recovery, which restricts the development of its full sea state coverage. To overcome the above disadvantages, it is very necessary to develop a new type of the wave glider(AutoNaut architecture wave glider, ANWG) driven by heave and pitch. Firstly, the propulsion mechanism of the ANWG was analyzed, its overall functional requirements and design objectives were determined, and the overall structural design of the ANWG prototype was completed. Secondly, the preliminary sea trial experiment of the ANWG was carried out, the motion response of the float was analyzed, the hydrodynamic parameters and motion response curve of the ANWG’s float were determined through using AQWA software simulation calculation. Based on the motion response of the float, the numerical model of the submerged passive flapping hydrofoil was established, and the optimum stiffness coefficients of the forward and aft hydrofoil springs were obtained. Finally, the self-navigation sea trial experiment of the ANWG was carried out. The thrust and hydrofoil flapping angle obtained from the experiment were compared with the simulation results. The results verify the correctness and reliability of the theoretical analysis and simulation results.