Design Of Wind-wave Driven Unmanned Sailboat And Research On Its Direct Navigation Performanc

Aiming at the problems of low response of wave energy and low conversion efficiency of wave energy in the underwater gliding hydrofoil of the wave glider and Auto Naut wave-powered ship of low speed cause by the complex mechanical structure,based on the design of wave-powered unmanned ship,a unmanned sailboat for marine environment movement monitoring is developed by introducing wind energy in this paper,and combining the propulsion principles of wave energy and wind energy to design and develop a wind and wave driven unmanned sailboat for ocean environment movement monitoring.In this paper,the wind and wave driven unmanned sailboat is the research object,and the movement monitoring of the ocean water environment by the wind and wave driven unmanned sailboat is taken as the research purpose,and its direct dynamic performance is studied,which provide corresponding theoretical reference for the design and development of marine robots using ocean clean energy.The research work of this thesis is as follows:Firstly,based on the working principles of wave-powered unmanned ship and unmanned sailboat,a wind and wave driven unmanned sailboat for marine environment monitoring is designed by effectively combining the advantages.According to the design standards of the ship,sail,sail control and reefing mechanism,hull,rudder,underwater glide hydrofoil and stabilizing plate mechanism are designed and selected.Secondly,ANSYS FLUENT software is used to conduct numerical simulation on the aerodynamic performance of the target sail,and the variation rule between lift coefficient,drag coefficient and Angle of attack is obtained.Combined with the force analysis of the unmanned sailboat driven by wind and wave,the change law between the heading propulsion coefficient and lateral thrust coefficient of the target sail and the apparent wind Angle is obtained.Thus,the control table of different apparent wind angles and corresponding angles of attack under the maximum heading thrust under cruising conditions is obtained,which provides a sail angle of attack control strategy for building the motion model of wind and wave driven unmanned sailboat.Thirdly,the simulation models of the underwater stabilizing plate mechanism and the stern underwater glide hydrofoil are established,and the ANSYS FLUENT software is used to numerically simulate the underwater stabilizing plate mechanism model and the stern underwater glide hydrofoil model during the movement process.The resistance change law of the two models in direct sailing motion at different speeds is studied and analyzed,so as to obtain the law of the influence of the two models on the direct sailing resistance under different speed conditions,which lays the theoretical foundation for building the motion model of wind and wave driven unmanned sailboat.Finally,the forces and moments experienced by the unmanned sailboat while sailing on the sea are studied and analyzed.Combining the sail angle of attack control strategy and the underwater stabilizing plate mechanism and the stern underwater glide hydrofoil direct navigation resistance change law,the mathematical motion model of wind and wave driven unmanned sailboat is established.And the unmanned sailboat direct navigation dynamic performance under different wind conditions and different speed conditions is simulated and analyzed.The results show that the unmanned sailboat equipped with a fixed underwater stabilizing plate mechanism can obtain stable sail-assisted force and maintain heading stability in a direct sailing state.