Design And Experiment Research Of Mechanics Of Underwater Gliders Propelled By Electricity

Underwater glider is a new kind of underwater robot, it is a buoyancy-propelled, fixed-wing vehicle with attitude controlled completely by means of internal mass redistribution , Underwater glider can go ahead while diving or going back to the surface, it also can turn around. As an ocean monitoring instruments, it is an important equipment for obtaining ocean environmental data. Underwater gliders powered by electricity can be used broadly in ocean research and military field because of their reliable capability, and wide applications.Firstly, in this paper, the summary of underwater glider powered by electricity was introduced , its work principle, the system organs and the designing of exterior mechanical frame(mostly include the shell,fixed-wing and vertical steady empennage) were introduced too. By optimizing the parameters in this paper, we got the parameters of the shell,fixed-wing and vertical steady empennage by means of analyzing the resistance of water. Secondly, the dynamics of constant gliding of the underwater glider were analyzed. To the underwater glider , this paper mainly studied its gliding model in vertical plane at first, the state equations were derived using linearization and proper simplification, the controllability and mass of the pitching part were also given based on it ; this paper analyzed the space helix turning too, and got the state equations,the controllability and mass of the rotating part . This paper also detailedly introduced designing of the hard core of the underwater glider: pitching and rotating parts in this paper.Finally, we manufactured and fixed the hardware, and designed the reasonable experiment project using the pitching and rotating parts, the results of the theory analysis will be validated by the experiments. Using the results of the theory and experiments adjusted the design and achieved the needs of design.