Gliding Power Analysis And Structural Optimization Of Submerged Glider For Wave Glider

The wave glider is a type of unmanned vehicle,which is able to convert wave energy into forward driving force.The key core problem affecting navigation speed is how to improve the gliding power of the submerged glider.Wave power conversion efficiency is an important factor afffecing the gliding power of the submerged glider.The navigation speed can be increaed to the greatest extent only by fully improving the conversion efficiency of wave power,which can improve positon keeping ability and navigation accuracy of wave glider.Therefore,how to transform wave energy into forward force is the current research focus of wave glider technology.In this paper,the dynamics of the elastic pendulum mechanism of the submerged glider for the sea sentinel wave glider was studied.The influence mechanism of various parameters on the gliding power of the elastic pendulum mechanism was revealed,and the structure optimization design of the submerged glider was completed.In this paper,to improve the gliding power of submerged gliders,research work was carried out as follows:Firstly,the working princple of the wave glider was described,the parameters of power conversion mechanism were described in detail,and the assumptions of the motion of the submerged glider were reasonably put forward according to working conditons.Secondly,the centroid coordinate system was added,and the transformation relationship between coordinate systems was determined.The forces acting on the submerged glider and the hydrofoil were analyzed and the internal forces are omitted according to the solid connection relationship.The dynamic model of the submerged glider was built by using Newton-Euler method,and the three-dimensional forces on hydrofoil were simplified to two-dimensional forces on the vertical surface of the submerged glider.Force analysis was carried out and an explicit mechanical relationship between parameters of the elastic pendulum mechanism and the gliding power of the submerged glider was established.Thirdly,the fluent simulation was performed under the different structural parameters such as self-weight,hydrofoil pitch angle,and spring of the submerged glider.and the relationship between the different parameters and the longitudinal movement of the submerged glider was obtained.According to the optimal parameters obtained by the simulation,the optimization design of the the submerged glider was carried out.Finally,through the pool test and sea trial,the performance before and afte optimization of the submerged glider was compared to verify the accuracy of the simulation analysis and optimization design.The results show that the structure optimization of the submerged glider has a significant effect on improving gliding power.The theoretical analysis and simulation research are more credible,which provides a theoretical reference for the structure optimization design of the submerged glider for wave glider in the future.