Optimization Of The Shape Of The Four-Rotor Underwater Vehicle And Design Of The Interface Of Host Computer

The vast ocean has been long drawing attention of scientists from all over the world.Unmanned Underwater Vehicle(UUV)should be applied in marine resource survey,underwater archaeology and ocean environmental monitoring.It has become a new tool in exploring the blue ocean since it can work effectively under a low-temperature and high-pressure environment.Quadrotor unmanned underwater vehicle studied by this laboratory belongs to this kind of new underwater vehicle.Similar to Microdrones,it can make six-degree-of-freedom movement of the underwater vehicle through the co-ordinated operation of four thrusters fixed to the hull side.Compared to traditional tor-pedo-style way to promote,the quadrotor structure is much more flexible and stable.Here are the main parts this paper is going to research:First,we design an overall structure of underwater vehicle based quadrotor structure,and have some improvements of the structure according to the practical demand.The quadrotor unmanned underwater vehicle has overall structure design including shape selection,sealing problems and promotion system.Then,we analyze the impact of the factors such as location of promotor on the hydraulic resistance with computational fluid,according to the structure feature of quadrotor un-derwater vehicles.Besides,we have emulation calculation of shape perfection to reduce resistance and get the major shape parameter,under certain condition of gravity of a certain amount.The results of simulation show that the resistance of the shell has sig-nificantly reduced after the perfection design with genetic algorithm(GA).Finally,to cater the functional demand of the upper computer,we build an upper com-puter interface with C#base on Visual Studio platform for serial port RS-232.This upper computer has mainly three modules,namely,serial communicating module,data display in real time,control command sending.It demonstrates through experimental debugging that this upper computer effectively achieves the human-computer interac-tion,and guarantees the effective operation of the underwater vehicle.The research of this paper is based on the former theoretical research;analyze the im-pact on overall structure design,shape perfection and writing of upper computer of quadrotor structure,and design the overall structure of quadrotor unmanned underwater vehicle based on the shape parameter gained by shape perfection.