Experiment And Analysis On Characteristics Of Autonomous Underwater Vehicles Propelled By Thermal Engine

AUV is important to the survey of the ocean entironment. Compared with the AUV propelled by electricity, underwater measuring unit propelled by thermal engine has many advantages, such as longer working time, larger working depth and smaller noise. As a result, it will have more foregrounds in the field of scientific and military tasks.Thermal engine is the drive-device of AUV driven by temperature difference energy. This thesis investigated the characteristics of thermal engine, and the working feasibility of it was testified by experiments. The thesis also analyzed the heat transfer rate and power of the engine. Some methods that could improve the efficiency were given here.In this thesis, we also analyzed the dynamics of both gliding AUV and bobbing AUV. To the gliding AUV, this thesis mainly studied its gliding model in vertical plane. The state equation was derived using linearization and proper simplification. Controllability and observability were given based on it. To the bobbing AUV, this thesis studied the dynamic model moving on a vertical line, and gave the stability of it.The mechanical design and control system design of bobbing AUV propelled by thermal engine were given here. Based on high security and small energy cost, we chose and designed the hardware of control system and gave the corresponding software design.We designed a model of bobbing AUV propelled by thermal engine in order to test whether or not it could bob in water based on small temperature difference. The experimental results showed that the model could work successfully and also manifested the working feasibility of AUV using thermal engine.