| Autonomous underwater gliders(AUG),with the advantages of long range,low noise and low cost-efficiency ratio,have become an important platform tool for longtime mobile observation and exploration of ocean,and are increasingly prominent in marine resource development and utilization,marine hydrographic information monitoring and marine disaster warning and prediction.The AUG combined with the propeller is still an underdrive system,and the underwater wide-range precision observation capability still needs further improvement.The complexity and variability of marine environment,marine life attachment categories and underwater topography put forward higher requirements for the underwater observation and detection equipment in environmental adaptive capability,multi-mode navigation capability,and high maneuverability,etc.Innovation design of AUG with the goal of improving existing underwater navigation performance and expanding movement patterns still faces many problems and challenges,such as lack of systematic approach to the configuration of controllable wing mechanism(CWM),lack of a way to switch the different navigation modes by adjusting the physical structure,the complexity of driving device to realize multi-motion.It is an ongoing research topic to achieve more diverse forms of navigation and operation of underwater vehicles with less drive,lower energy and lower cost.In order to improve the environmental adaptability and mobility of the AUG,this paper applied the “CWM” to the innovative design of AUG by combining with the design concept of multi-movement.To break through the traditional technical constraints of insufficient environmental adaptation capability of single UG,single observation and detection capability,and weak motion mobility,this paper carries out research on CWM configuration design,navigation performance analysis and controller design and optimization for AUG.This paper can provide new observation methods and platforms for long time series observation and detection in complex marine environment areas such as seamounts,trenches and coral groups,and support the development of marine scientific research.The main conclusions and innovations of this paper are:(1)Based on the screw theory,the design method of CWM configuration for AUG was carried out,and some configurations of CWM are designed for different engineering applications of AUG.After the mathematical description of the geometric constraint relationship between the adjacent kinematic pairs was constructed,a variety of one degree-of-freedom(Do F)basic plane mechanisms with the number of kinematic pair no more than 4 were biult.Combine the plane subchain and spherical subchain,this paper proposed some rules to design CWM,such as a single rotation subaxis offset transmission,multiple single Do F basic mechanism coupling transmission,single Do F basic mechanism and plane subchain coupling transmission,single Do F basic rotation mechanism in series with single Do F basic moving mechanism,and the same two single Do F basic mechanism self-reconfiguration.To breakthrough transmission problems in flat narrow wing space of AUG,this paper innovatively proposed a variety of wing parameter control CWMs and wing connection CWMs,which can enables AUG to have the ability of hydrodynamic parameters adjustment,motion mode adjustment and motion performance improvement,which provides a new idea for the innovative design and performance improvement of underwater vehicles with wing or rudder.(2)The dynamics model and navigation parameter model of AUG was established,and the effect of CWM on the motion performance was also analyzed.Based on the CWM configuration method proposed in this paper,two types of AUGs with different CWM are designed,and the mathematical relationship between the wing parameters and the hydrodynamic parameters of each AUG is obtained by applying CFD method and deep learning algorithm.This paper constructs the mathematical mapping relationship between wing parameters and hydrodynamic parameters,analyzes the influence of wing surface parameters and spatial attitude changes on static stability and maneuverability,develops two principle prototypes and conducts water tests to verify the relevant theoretical results,and then provides a theoretical reference for AUG with CWM motion performance regulation and navigation mode autonomous control.(3)A new two-Do F multi-mode CWM is proposed to improve the maneuverability and navigation performance of the HUG,which successfully integrates the motion of the pectoral fin of the humpback whale into the HUG,and effectively improve its navigation performance and widen its applicable operating waters.The kinematic model of the mechanism was established,and the double S-shaped velocity curve method was used to plan the wing flutter trajectory of the mechanism.The mapping functions of wing flutter frequency,amplitude and hydrodynamic force were obtained,which provide theoretical support for the development and motion control of the multimode underwater vehicle.(4)The multi-mode underwater vehicle is successfully developed,based on the new low-resistance non-swivel shape and multi-mode CWM proposed in this paper.Based on the main shape of the humpback whale,a new low resistance non-swivel underwater vehicle shape is proposed,and its descriptive equations are given by combining the Myring’s linear equation.The improved Latin hypercube sampling method and the proxy model method are applied to optimize the geometric parameters of the above shape with the overall sailing resistance and displacement volume as constraints.Then,design and manufacture of the multi-mode underwater vehicle are completed.Its motion mode and performance verification test was carried out in pool,such as fixed depth navigation,high maneuvering steering and high maneuvering navigation.It provides a new platform for oceanographic exploration. |
