Study On The Hull And Mechanism Of Underwater Glider

Underwater glider is a new kind of autonomous underwater vehicle, which is small, resuable, unpolluted, and so on. With wings and tail, it looks like a plane and glides through the ocean in a sawtooth way. It can glide elegantly from the ocean surface to a programmed depth and back while measuring temperature, salinity, depth-averaged current, and other quantites.Gliding flight is buoyancy driven, and does not use thrusters or propellers. So, it must change depth to glide to make it upwards and downwards It controls its buoyancy using internal variable buoyancy devices, and uses lift on wings to convert this vertical velocity into forward motion. Wings-lift drives forward motion both as the vehicles ascend and descend. It controls its attitude by moving internal masses.At the surface, it's commanded remotely and report their measurements in near real time via GPS navigation and two-way wireless telemetry.In comparison to other AUVs, they are relatively slow(50kg or so), travelling at about one half knot (0.25 m/s), but with careful design, buoyancy-driven glider is quiet and uses little power, so it has much longer ranges, on the order of hundreds or thousands of kilometers, and much longer deployment periods, on the order of weeks or months.As the long time resident of the ocean, it can give us the most real and particular materials, which play an import role in the scientific experiment, mineral reconnaissance, military spying, and so on.In this research, we begin with analysis on working theory, analysing each element's impact on underwater glider's movement, and forecasting it's track by simulation. The theory is help to guide our design of glider and test in the pool.Second , the thesis describes us how to design the mechanism and hull, in attitude control system, variable buoyancy system, and low drag hull aspects.At the last, we end our thesis with series test on segments and the whole system.