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水下滑翔器是广泛应用于海洋观测的新型浮力驱动设备。它通过改变重、浮力的比例实现垂直方向运动,通过固定水平翼以及改变浮心和重心的相对位置实现水平方向的运动。文章使用吉布斯函数和阿佩尔方程建立了水下滑翔器动力学模型并指导水下滑翔器设计。首先获得能够建立水下滑翔器动力学特性和内部各移动重物关系的模型。然后,使用计算流体力学软件Fluent获得模型中水动力参数的数值。考虑固定水平翼位置影响,文中以减小能量消耗为目标,给出水平翼的较优位置设计。最后,通过水下滑翔器模型水域试验数据和仿真的对比,证明了动力学模型和水下滑翔器设计的有效性。
Underwater hang glider is widely used in ocean observation of the new buoyancy drive equipment. It changes the ratio of heavy, buoyancy to achieve vertical movement, by fixing the horizontal wing and change the relative position of the center of gravity and floating to achieve horizontal movement. In this paper, the dynamic model of underwater glider is established using Gibbs function and Apel equation to guide the design of underwater glider. First of all, a model that can establish the relationship between the dynamics of underwater glider and the internal moving weights is obtained. Then, computational fluid dynamics software Fluent was used to obtain the values of hydrodynamic parameters in the model. Considering the influence of fixed horizontal wing position, this paper gives the optimal position design of horizontal wing with the goal of reducing energy consumption. Finally, the effectiveness of the dynamic model and underwater glider design is demonstrated through the comparison of experimental data and simulation of the underwater glider model waters.