Wave Glider Dynamics Analysis And Performance Optimization

The wave glider is a wave driven unmanned vehicle consisting of a surface float and an underwater glider.In recent years,due to the extraordinary abilities of them to complete the mobile observations on a large scale for a long time,wave gliders have been widely applied in the national defense,scientific research and business fields around the world.Establishing an accurate dynamics model of the wave glider,analyzing its motion characteristics through various methods,optimizing its kinematic characteristics by simulating or experimenting have become the pressing problems that wave gliders must confront and solve before large scale home-made manufacture.In view of the above problems,the following main research works are done:Firstly,based on the latest data,a detailed analysis and comparison of the research status about wave gliders at home and abroad was described,and a briefly introduction about the current situation of the research on the dynamics of the wave glider was also mentioned.Secondly,the applicable wave glider dynamic model was established.The forces of the surface float and underwater glider were analyzed.The dynamic model of the wave glider was established by Newton Euler method.The forward thrust was verified by hydrodynamic simulations.Thirdly,the dynamic characteristics of the wave glider under typical sea states were obtained by simulation,the corresponding relationship between the.forward velocity and the sea states parameters was also obtained.The speeds of the wave glider at all sea states were calculated based on the data of wave height and wave period.Then,the optimal motion rule of the glider wing,the optimal stiffness coefficient of the wing return spring and the optimal limit position of the wing plate motion were obtained.The optimal motion mode of the wave glider in the whole sea condition was put forward.Finally,the experimental data of three sea trials of the "sea sentinel" wave glider was analyzed.The effectiveness of the wave glider analysis was verified by the simulationThe research results show that the analysis of the dynamic behavior of the "sea sentinel" wave glider is credible by comparing the simulation results with the experimental data and the forward speed after optimization has also been further improved.The research results ’can be used to predict the speed of the wave glider.And it can provide some guiding significance and reference value for the later optimization design of the wave glider.