Design And Performance Research Of Hybrid Driven Underwater Glider With Foldable Propeller

The underwater glider is a new and advanced ocean observation platform,which can significantly improve the ability of three-dimensional observation of the ocean.It has become a research hotspot in the field of international ocean observation.Based on the in-depth analysis of the design principles of traditional hybrid-driven underwater gliders,this paper uses modular and integrated methods as guidance,and with the help of computer software such as Soildworks,ANSYS and Python,the main design,verification,and verification of hybrid-driven underwater gliders are carried out.Analyze and assemble,and develop a set of computer programs for the shell calibration of hybrid-driven underwater gliders,which improves the accuracy and efficiency of the calibration.Then,according to the performance requirements of the hybrid-driven underwater glider,the system cabin was modularized,and the design of the buoyancy adjustment system,the attitude adjustment system,the propeller propulsion system and the planning design in the airframe were carried out.Focusing on the problem that the propeller will produce a certain resistance when the hybrid-driven underwater glider is only driven by buoyancy,a new type of foldable propeller is proposed to reduce the resistance generated by the propeller when the propeller propulsion module is not working,so that the hybrid-driven underwater glider The overall has good low resistance.The problem of modeling the dynamic model of the hybrid-driven underwater glider and the new propeller is studied.Based on the model of sailing propeller proposed by Larsson and Eliasson,based on the established inertial coordinate system,carrier coordinate system and speed coordinate system,this paper derives and establishes the resistance model and thrust model of the new foldable propeller under different conditions.At the same time,a six-degree-of-freedom dynamic model of the hybrid-driven underwater glider was established,and combined with the movement characteristics of the battery module during sailing,the influence of the battery module on the body was ignored,and the hydrodynamic model was simplified.Compared with the traditional model,the difference is that the propeller model is different in different operating modes.The performance of the designed hybrid-driven underwater glider and the new propeller were analyzed by computer simulation.The simulation analysis results of the open water performance and hydrodynamic drag torque of the new foldable propeller show that: compared with the traditional propeller,the new propeller can greatly reduce the resistance when the propeller is not working,and the greater the speed coefficient,the greater the effect.obvious.Simultaneously,the overall low resistance performance of the hybrid-driven underwater glider equipped with the new foldable propeller is simulated and analyzed.The results show that the overall resistance of the underwater glider equipped with the new propeller becomes smaller when sailing in the gliding mode only.It is reduced by about 45%,especially at low speed,it can be reduced by 60%.The advantage of low resistance performance is obvious.This paper also simulates and analyzes the sailing performance under steady state and unsteady state,focusing on the analysis of the speed increase effect and the turning radius during the sailing process in different motion modes.The results show that the speed increase effect of this underwater glider is better in the hybrid driving mode.Good,the vertical ascent speed is faster,the navigation performance is better,and the turning radius is smaller,which has certain research and application value.