波浪动力滑翔机母船与牵引机运动传递关系

Research on Motion Relationship Between the Surface Boat and the Wave-Propelled Sub in Wave Glider System

为研究波浪动力滑翔机上端母船与水下牵引机的运动关系,将连接母船与牵引机的缆绳离散成多个微段进行分析,根据每个微段动力学分析结果列出动力平衡方程,得到母船与牵引机运动传递关系的方程组,然后用MATLAB编程求解.根据数值计算结果,发现波浪动力滑翔机在海面上自主航行时速度时刻在变化,但变化相对平稳,母船水平速度变化幅度相较牵引机要大,由于柔性缆绳的作用,波浪动力滑翔机的速度会随着海面波浪的变化而迅速改变;此外,较短的缆绳有利于波浪动力滑翔机的运动传递.

To study motion relationship between the surface boat and the wave-propelled sub in wave glider system,the cable connecting these two parts is divided into several micro segments for analysis.The motion relationship can be obtained by solving dynamic equilibrium equations of all segments.According to the numerical results,the horizontal velocity of wave glider varies continuously and steadily,and the horizontal velocity range of the surface boat is larger than that of the wave-propelled sub.Because of the flexibility of the cable,wave glider horizontal velocity is easy to adjust as the wave changes.Moreover,the short cable is in favor of motion transmission.