浅域水下滑翔机设计及性能分析

陈孟伟; 刘雁集

doi:10.11993/j.issn.2096-3920.2019.01.010

浅域水下滑翔机设计及性能分析

doi: 10.11993/j.issn.2096-3920.2019.01.010

陈孟伟¹,
刘雁集²

1.
上海产业技术研究院, 上海, 201206
2.
上海海事大学商船学院, 上海, 201306

基金项目: 上海市经济和信息化委员会专项资金项目资助(JJ-YJCX-01-17-1893)

详细信息

作者简介:
陈孟伟(1993-), 男, 本科, 主要研究方向为过程自动化技术.

中图分类号: TJ6; U665; TP24
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- 文章访问数: 784
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- 被引次数: 0
出版历程
- 收稿日期: 2018-06-13
- 修回日期: 2018-11-19
- 刊出日期: 2019-02-28

Design and Performance Analysis of an Underwater Glider for Shallow Water

CHEN Meng-wei¹,
LIU Yan-ji²

1.
Shanghai Industrial Technology Institute, Shanghai 201206, China
2.
Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China

摘要

摘要: 水下滑翔机作为一种具有长续航能力的水下航行器, 可通过搭载特定传感器实现对一定水域环境的监测。为解决滑翔机对浅水域环境的监控问题, 文中提出一种运行于浅水域的水下滑翔机设计方案, 分析了俯仰和浮力机构调节与俯仰角度的耦合方式对其整体性能的影响, 设计了基于丝杆副传动装置的可快速调节的单冲程浮力调节系统, 并采用鳍舵调节装置实现机体的转弯调节。同时综合考虑机体内部各移动部件状态变量, 建立浅域滑翔机动力学模型, 设计了线性二次调节器(LQR), 确定控制器各权重参数, 实现了浮态切换的快速调节控制, 并通过水池试验测试其运动能力。试验结果表明, 研制的水下滑翔机可在3 m水深内顺利运行, 转弯半径小, 可达9 m, 完全满足在浅水域稳定运行与顺利巡航的要求。
- 水下滑翔机 /
- 浅水域 /
- 动力学模型 /
- 水池试验
Abstract: For monitoring shallow water environment, an underwater glider for shallow water was designed. The effect of the coupling mode of the pitch and buoyancy mechanism adjustment and the pitch angle on the overall performance of the glider was analyzed. A single stroke buoyancy regulating system based on screw pair transmission device was designed, and the fin rudder adjustment device was used to realize the turning adjustment of the glider body. Moreover, a dynamic model of glider running in shallow water was established, a linear quadratic regulator(LQR) controller was designed, the weight parameters of the controller were determined, and the fast control of buoyancy state switching was realized by comprehensively considering the state variables of the moving parts inside the glider body. At last, the performance of the glider was tested in a water tank, and the result shows that this underwater glider can run smoothly in the depth range of 3 m with a small turning radius of 9 m, which meets the requirements of stable operation and smooth cruise in shallow water.
- underwater glider /
- shallow water /
- dynamic model /
- tank test

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参考文献(13)

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