Research On The Design Of Micro Underwater Glider

As one of the most important means for humans to explore the ocean,the underwater glider has received extensive attention from the international community in recent years.However,the conventional underwater gliders are complex in structure and function,large in volume and heavy in weight,leading to a long research and development cycle,high cost and great technical difficulty,which to some extent limits their large-scale and easy deployment.Compared with the conventional underwater gliders,the Micro underwater glider has obvious advantages in volume,weight and cost,but the requirements of small and lightweight performance also bring challenges to the sports ability and overall design of the glider platform.To design a micro underwater glider with the rapid and easy deployment,this paper developed a glider system with the overall weight of less than 25 kg and a certain load capacity,which can be deployed in group to perform simultaneous monitoring of various marine environmental information.This study is summarized as follows:1.Based on the design objectives and functional requirements of the Micro underwater glider,this study considered the constraints of weight,volume,cost,function and other factors,and carried out the overall and unit design of the prototype meet the expected design requirements of compact structure,high space utilization and less redundancy.2.The dynamic model of the micro underwater glider was established,and its motion characteristics were analyzed by simulation,and the motion parameters during stable gliding were obtained.The adaptive integrated design with acoustic sensors was carried out,and the prototype of the Micro underwater glider was successfully developed.The whole machine weight was 24.5kg,and the sea trial with the whole machine was completed.3.A mathematical model for topological optimization was established to minimize the volume of the pressurized shell.The pressurized shell model with minimum volume was obtained through structural topology optimization with variable density method.The mass of the pressurized shell was reduced by 14.5%,which solved the problem of excessive safety margin of the conventional pressurized shell strength of the Micro underwater glider.