Hydrodynamic Analysis And Shell Shape Design Of Archeological AUV

Deep-sea archaeology is "difficult to find,great depth".Compared with archeological ships and ROVs with underwater cables,AUV has attracted much attention in the archaeology field due to its high autonomy,wide working range and low cost.To meet the depths of the sea remains widely detection,fine point detection and long period operation of archaeological work demand,this paper to design special AUV underwater archaeology,movement stability research and optimization,such as research,design and low resistance,large volume and movement stability of archaeological AUV shell shape,developed for archaeological AUV shell design and provide a theoretical basis.Main work and contributions of this paper:Firstly,reviews and existing underwater archaeological research and application of the robot at home and abroad,analysis of different kinds of underwater archaeology equipment under different operation environment,emphatically expounds the main content of the AUV for hydrodynamic performance research and development,including the type line resistance calculation,the optimization design and movement stability.Secondly,three main shape schemes of AUV shells were compared and analyzed.Torpedo shape body was selected as the shape of the archaeological AUV shell,and then the shape parameter equations of the three AUV shells were established,and the direct navigation state was simulated by hydrodynamic analysis.Again,consider the outside interference,the AUV by location force and moment were analyzed,and based on the archaeological AUV three solutions in the horizontal plane and vertical plane shape towing tank and cantilever pool experiment simulation,calculation of each solution corresponding to the stability of the appearance,and then complete the archaeological AUV shell design,to satisfy the stability requirement.Then,consider the propeller rotation in the process of AUV motion caused by the surrounding the change of the flow field,flow field is put forward based on dynamic belt pulp archaeological AUV hydrodynamic analysis,get the archaeological AUV in the dynamic flow field under the rated speed of hydrodynamic numerical value,thus the analysis of the effect of screw rotation resistance of AUV shell,providing numerical basis for further optimization of AUV shell resistance.Finally,genetic algorithm was used to optimize the shape parameters of AUV shell,and the hull efficiency was taken as the index to judge the advantages and disadvantages of the hull shape optimization scheme.After optimization,the hull efficiency was increased and the water resistance was reduced,so as to reduce the energy consumption and improve the sailing speed and endurance.To sum up,this thesis aimed at archaeological contour design and optimization of the AUV shell,the shell shape design,motion stability analysis and belt OARS state hydrodynamic numerical simulation,especially using genetic algorithm to shell shape parameter optimization are studied,for AUV prototype shell provides the theory basis for design and performance analysis.