Research On Dual Mode Attitude Regulating Mechanism Of Underwater Glider/profiling Float

The time and space scale of the marine environment is large,and the marine phenomena are complex and changeable.There are not only large and medium-sized marine phenomena such as ocean circulation and ocean front vortex,but also small and medium-sized marine phenomena such as turbulence,surface wave and internal wave.Therefore,the observation forms are different.The selection of appropriate observation equipment is very important for the observation effect.The main motion form of underwater glider is "sawtooth",which has strong mobility and flexibility.It is suitable for tracking and observation of marine phenomena and measurement of long-range,large-scale and three-dimensional continuous marine environmental parameters in the far-reaching sea.It has obvious advantages in large and medium-scale marine phenomenon observation.The underwater glider can not realize the upward and downward movement of large pitch angle by axially moving the battery mass block for limited pitch attitude adjustment.In order to increase the pitch angle adjustment ability of the underwater glider and make it have the advantages of profiling float in the observation of small and medium-scale ocean phenomena,the attitude regulating mechanism of the underwater glider is redesigned in this paper.The main research work and results are as follows:Firstly,according to the design requirements and constraints,the attitude adjustment scheme of underwater glider/profiling float dual-mode double equal eccentric mechanism and the attitude regulating modes of pitch and roll are proposed.On this basis,the selection of main components is completed;The attitude angles in the communication state,diving state and floating state are calculated and analyzed,the pitch stroke of the attitude regulating mechanism is determined,and the control logic of the double equal eccentric attitude regulating mechanism in the complete working section is designed.Secondly,the layout of the battery pack is optimized by using quasi-physical and quasi-human algorithm,combined with the structural characteristics and design constraints of the battery mass block in the attitude adjustment mechanism of the underwater glider.Under the conditions of meeting various constraints such as non-interference constraints,gap constraints and mass constraints,the maximum battery layout of a single battery mounting plate and the layout position of each battery are determined,the space utilization of the battery mounting plate and the layout efficiency of the battery pack are improved.Thirdly,the dynamic equation of underwater glider with mode switching function is established.Based on the simplified dynamic equation,the motion of underwater glider in conventional mode and profiling float mode and the process of switching between the two modes are simulated and analyzed,and the function of double equal eccentric attitude regulating mechanism and the motion characteristics of underwater glider in the two modes are verified.Finally,the line connection and working stability of the double equal eccentric attitude regulating mechanism are tested,the whole assembly and balancing of the underwater glider are completed,and the pitch angle adjustment and mode switching functions of the underwater glider are verified in the pool.The results show that the pitch angle adjustment range of the underwater glider in the conventional mode is [-55.8°,55.6°],and the pitch angle range can reach [-90°,90°] after mode switching,which meets the requirements of glide motion and vertical profile motion.