Research On The Motion Performance Of The Disk Type Underwater Glider

Disk type underwater glider is a new type underwater glider,with a disc-shaped design,so it has omnidirectional motion characteristics,extremely strong flexibility;with low energy consumption,endurance and lasting advantages,the disk underwater glider can complete the long-time and large-scale movement in the profile,and the spiral rotary motion as with the traditional torpedo-shaped underwater glider.Under the support of the innovative micro-torque control technology,the disk type underwater glider is equipped with micro-torque control device can fundamentally overcome the problem that disk type underwater gliders easily leaded to the rotation of the vertical axis of its own shortcomings by the external environment interference;At the same time,the proposed micro-torque control technology makes the disk type underwater glider to achieve zero gyration in the state of zero gyration radius of the rotary movement,and can freely change the course of glide in the forward direction,which not only improves the glider's maneuverability,but also to achieve underwater glider's flexible motor movement in a small body of water,greatly which reduces the requirement of glider's working space and extends the application of glider from deep sea to shallow sea.This paper takes the prototype of the third-generation disk type underwater glider designed and researched by the research team as the research object,and its motion control equation as the research focus.Firstly,the kinematics and dynamics modeling of the underwater glider is studied,and the hydrodynamics of the underwater glider is studied with reference to the characteristics of the traditional underwater glider.A set of hydrodynamic model of the underwater glider is established.The two models are combined to study the kinematics and gliding performance of the disk type underwater glider.In conjunction with the input of the controlled variables,the mathematical model becomes the motion control equation of the disk type underwater glider,and then the spatial dynamic behavior of the glider is studied.The optimal combination of the motion performance and the control quantity of the glider in the longitudinal section is simulated and analyzed.The spatial rotary motion and the spiral rotary motion of the glider are simulated.The relationship between the characteristic parameters of the spiral motion and the offset of the center of gravity is studied.The control method of the rotary motion of the underwater glider is studied preliminarily.It is proved that the disk type underwater glider can also realize the spiral rotary motion just likes other traditional underwater gliders,only with different control methodsFinally,the motion of the dish type underwater glider with micro-torque device in small water body is discussed and studied.It not only demonstrates the feasibility of the innovative micro-torque device under different working conditions,but also simulates the rotary motion of the zero-speed zero gyration radius and the rotary motion in the gliding process of the dish type underwater glider,the influence of each parameter on the rotary motion performance is analyzed to optimum design of the disk type underwater glider.