Petrel-II 200水下滑翔机动力学建模及仿真

孙秀军; 王 雷; 桑宏强

doi:10.11993/j.issn.2096-3920.2019.05.002

Petrel-II 200水下滑翔机动力学建模及仿真

doi: 10.11993/j.issn.2096-3920.2019.05.002

孙秀军^1,2,3,
王雷¹,
桑宏强⁴

1.
河北工业大学机械工程学院, 天津, 300130
2.
中国海洋大学物理海洋教育部重点实验室, 山东青岛, 266100
3.
青岛海洋科学与技术试点国家实验室海洋动力过程与气候功能实验室, 山东青岛, 266237
4.
天津工业大学机械工程学院, 天津, 300387

基金项目: 国家重点研发计划重点专项(2017YFC0305902); 青岛海洋科学与技术国家实验室“问海计划”项目(2017WHZ ZB0101); 天津市自然科学基金重点基金(18JCZDJC40100).

详细信息

作者简介:
孙秀军(1981-), 男, 教授, 主要研究方向为海洋移动观测平台技术.

中图分类号: TJ630; U674.941; O352
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- 文章访问数: 934
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- 被引次数: 0
出版历程
- 收稿日期: 2018-10-25
- 修回日期: 2018-12-10
- 刊出日期: 2019-10-31

Dynamic Modeling and Simulation of Underwater Glider Petrel-II 200

1.
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
2.
Physical Oceanography Laboratory, Ocean University of China, Qingdao 266100, China
3.
Laboratory of Marine Dynamics and Climate Function, Pilot National Laboratory for Marine Science and TechnologyQingdao, Qingdao 266237, China
4.
School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China

摘要

摘要: 国内对水下滑翔机动力学行为的研究多针对深海型及横滚转向机制, 而对浅海型、尾舵转向类型研究较少。基于此, 文中以Petrel-II 200浅海型水下滑翔机作为模型进行动力学建模及运动仿真分析, 并引入海流等干扰因素, 为浅海型水下滑翔机的运动形式提供参考。根据Petrel-II 200三维模型中各质量的相对运动关系将其质心简化为由多个质点组成的多刚体系统, 构造质心与质点之间的关系式; 基于动量及动量矩定理对Petrel-II 200进行动力学分析, 对水下滑翔机所受重力、驱动浮力以及水动力进行体坐标系转换, 并推算出完整的动力学方程, 明确了升阻比与回转半径表达式; 通过选取水下滑翔机物理、水动力学参数, 对锯齿、螺旋等典型运动进行仿真试验。该仿真结果验证了动力学模型的准确性和可靠性, 为后续Petrel-II 200水下滑翔机的运动性能优化和控制算法设计提供了良好的仿真平台。
- 水下滑翔机 /
- 动力学建模 /
- 动力学方程 /
- 运动仿真
Abstract: In China, the researches on dynamic behavior of underwater glider mostly focuses on deep-sea type and horizontally rolling mechanism, but less on shallow-sea type and tail rudder steering type. This paper takes shallow-sea underwater glider Petrel-II 200 as a model to conduct dynamic modeling and motion simulation, and adds some disturbing factors such as ocean current for the purpose of providing reference for motion form of shallow-sea underwater glider. According to the relative motion relationship of each mass in the Petrel-II 200 three-dimensional model, the centroid is simplified to a multi-rigid body system composed of multiple particles, and the relationship between the centroid and the particle is constructed. Based on the theorems of momentum and momentum moment, the dynamics of Petrel-II 200 is analyzed. The gravity, driving buoyancy and hydrodynamics of the underwater glider are transformed into body coordinate system. The complete dynamic equation is deduced, and the expressions of lift-to-drag ratio and radius of rotation are defined. By choosing the physical and hydrodynamic parameters of the underwater glider, simulation experiments of typical motions, such as sawtooth and spiral motions, are carried out. The simulation results validate the accuracy and reliability of the dynamic model, and provide a good simulation platform for the following underwater glider Petrel-II 200 motion performance optimization and control algorithm design.
- underwater glider /
- dynamic model /
- kinetic equation /
- motion simulation

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参考文献(16)

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