Dynamic Analysis And Structural Optimization Of Shallow Sea Underwater Glider

Shallow-sea underwater glider is a marine mobile observation platform which integrates the advantages of Argo profile buoy and underwater autonomous navigation equipment.It has been used in marine scientific research and military field by many countries in the world because of its long voyage distance,planable path,many kinds of sensors,real-time data return and low cost.Its working principle is to control its position and posture by changing the position of internal center of gravity and net drainage,and to glide by means of the hydrodynamic lift generated by the fuselage and wing.It can complete the movement of zigzag-like shape in the vertical section under water,which has the characteristics of low energy consumption,large range of motion and low noise.Unlike the common deep-sea underwater glider,it does not rely on the internal attitude system to adjust its position and attitude,but uses the tail rudder to achieve rapid steering,so it has high maneuverability,fast gliding speed and good anti-current performance.Firstly,based on the design of typical underwater glider,the pressure hull and buoyancy drive of shallow-sea underwater glider are calculated in detail,and the pitch adjustment module and the transmission mechanism of stern rudder steering system are designed.Then,the dynamic equation of the prototype is established and deduced by using kinematics,dynamics and floating multi-rigid body theory.Then,the hydrodynamic coefficients of the equation are calculated by using hydrodynamic simulation software,and the simulation of typical motion such as zigzag glide and rotary motion is completed.Finally,the structural parameters of the wing and tail rudder of a shallow-water underwater glider are optimized,and the feasibility and reliability of the optimization results are verified by simulation.Among them,the innovative content of the article is as follows:1.Based on the traditional deep-sea underwater glider,the principle prototype of the shallow-sea underwater glider is designed,which replaces the roll module with the tail rudder steering module.2.For the first time,the dynamic model of the underwater glider with tail rudder and without roll is established,its dynamic equation is deduced and its kinematics simulation is carried out,in which the influence of ocean current on gliding motion is also considered.3.The wing and tail rudder of a shallow-sea underwater glider are analyzed by using hydrodynamic simulation software,which provides guidance for the design of configuration parameters of the structure through optimization and comparison.