基于实航数据的可变翼无人潜航器滑翔运动水动力参数辨识研究

Research on Hydrodynamic Parameters Identification of Underwater Vehicle Glide Motion with Controllable-wings Based on Trial Data

可变翼混合驱动无人潜航器是一种新概念水下潜器,具有功耗低和航程长的优点,若利用尾部的推进器还具有良好的机动性。此外,其特殊的机械结构可实现开翼和合翼两种状态,适合在复杂的海洋环境中执行探索和监测作业。论文以中国船舶科学研究中心自主研发的原型样机“海翔500X”为研究对象,提出充分利用实航数据获取水动力参数的方法。对无人潜航器建立动力学模型和推导稳态关系;针对大深度环境中攻角数据不完备的问题,借助以往测量数据用RBF神经网络预报攻角值。将实航数据与稳态模型相结合,得到水动力参数的表达式,并将其与CFD及模型修正结果进行对比,验证了参数的可靠性。

Controllable-wings hybrid-driven underwater vehicle,as a new-concept underwater vehicle,has the advantages of low power consumption and long endurance.It also has outstanding maneuverability by using the propeller located at the tail.In addition,its special mechanical structure can realize two states:wing-spread and wing-close,suitable for performing complex marine environment detection and monitoring operations.Taking the prototype“Haixiang 500X”developed by China Ship Scientific Research Center as the research object,a method is proposed to obtain hydrodynamic parameters by making full use of the trial data.Firstly,the dynamic model of the underwater glider is established and analyzed to derive the steady-state relationship.Aiming at the problem that the attack angle's data is incomplete,the RBF neural network method is used to predict the attack angle's value.Finally,the expressions of hydrodynamic parameters are obtained by combining the trial data with the steady-state model,and compared with the CFD and model correction results,so that the reliability of the parameters is verified.