Research on Hydrodynamic Characteristics and Gliding Performance of Underwater Glider “HaiXun 4000”
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摘要: 与一般水下滑翔机相比, 4 000 m水下滑翔机使用深度更深, 体型相对更大。为了克服海水密度变化的影响, 其浮力调节系统的体积调节量也更大。准确的动力学模型以及精确的水动力系数是实现其控制系统设计以及精确导航的基础。文中将在结构参数已定, 动力学模型已知的前提下获得精确的水动力系数, 对水下滑翔机性能进行预测, 并为控制系统提供控制变量和优化方向作为研究的重点。以“海鲟4 000”水下滑翔机为研究对象, 采用理论计算、计算流体动力学(CFD)仿真与试验数据分析相结合的方法, 分析了水平翼参数对其滑翔性能的影响; 获得了其在纵平面内做定常运动的水动力系数, 并对其性能进行预测; 通过试验数据分析, 获得典型滑翔状态下不同净浮力对应的滑翔速度, 并与理论计算进行对比分析, 验证理论计算的正确性。研究结果表明: 试验实际俯仰角控制与理论计算误差在5%以内; 试验实际净浮力下的滑翔速度与理论计算误差在15%以内, 满足控制系统相应控制量20%的误差需求。文中研究可为水下滑翔机控制系统的进一步优化和完善提供参考。Abstract: Compared with common underwater glider, the 4 000-meter underwater glider needs larger volume adjustment of its buoyancy control system in order to overcome the influence of seawater density change. Accurate dynamic model and hydrodynamic coefficient are the basis for realizing its control system design and accurate navigation. On the premise that its structural parameters are determined and the dynamic model is known, this paper aims to obtain accurate hydrodynamic coefficient and predict its performance, so as to provide control variables and optimization directions for the control system. Taking the 4 000-meter underwater glider “HaiXun 4000” as the research object, theoretical calculation, CFD simulation and experimental data analysis are combined to analyze the influence of the horizontal wing parameters on the gliding performance of the underwater glider, hence the hydrodynamic coefficient of constant motion in longitudinal plane is obtained, and the performance of the glider is predicted. Through the analysis of test data, the gliding speeds corresponding to different net buoyancy under typical gliding conditions are obtained and compared with the theoretical calculation to verify the correctness of the theoretical calculation. The results show that the error between actual pitch angle control and theoretical calculation is less than 5%, and the error between gliding speed and theoretical calculation under the actual net buoyancy of the test is within 15%, meeting the error requirements of 20% of the corresponding control amount for the control system. This research may provide a reference for further optimization and improvement of the control system.
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Key words:
- underwater glider /
- gliding performance /
- hydrodynamic characteristic /
- gliding speed
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