Conceptual Design And Study Of Hybrid Autonomous Underwater Vehicle

As two effective platforms for scientific sensors, both underwater glider and Autonomous Underwater Vehicle (AUV) have become intense areas of oceanic research because of their emerging applications in oceanographic survey and exploitation of resources. However, long-term marine and precise orientation is impractical for available glider or AUV because the energy storage is limited. In order to achieve an optimal integration of long range and exact trajectory or maneuverability, a hybrid autonomous underwater vehicle is developed in this thesis. Provided with the integrated advantage of conventional glider and AUV, the hybrid AUV developed in this paper can accomplish large-scale vertical reconnaissance,level partial survey and elaborate measuring round target through function transition of the two mode.First of all, main kinds of underwater robots were evaluated in the paper, then a conceptual design, contained performance demand,work principle,system structure and parameter calculation, was done based on the function of glider and AUV.Second, a dynamic model is set up for the hybrid AUV with variable buoyancy system,movable mass,rudder and elevator,screw propeller and so on. What is more, the important relative curves are emulated based on the result of the model.Finally, hydro dynamic parameters are calculated in order to validate the rationality of the design. Because a little coupling appears in the hybrid AUV, it's necessary to analyze the effect of correlative components on system. In order to meet the two mode of low and high velocity, correlative parameters are simulated to achieve optimization.