“海燕”号谱系化水下滑翔机技术发展与应用

杨绍琼; 李元昊; 孙通帅; 杨亚楠; 杨明; 王延辉

doi:10.11993/j.issn.2096-3920.2023-0011

“海燕”号谱系化水下滑翔机技术发展与应用

doi: 10.11993/j.issn.2096-3920.2023-0011

杨绍琼^{1, 2},
李元昊¹,
孙通帅^{1, 2},
杨亚楠¹,
杨明^{1, 2,},
王延辉^{1, 2}

1.
天津大学机械工程学院, 天津, 300352
2.
崂山实验室海洋观测与探测联合实验室, 山东青岛, 266237

基金项目: 国家重点研发计划项目(2016YFC0301100)、中国博士后科学基金(2022TQ0233, 2022M722367)

详细信息

作者简介:
杨绍琼(1986-), 男, 博士, 副教授, 主要研究方向为深海智能装备设计与应用

通讯作者:
杨　明(1992-), 男, 博士, 助理研究员, 主要研究方向为水下滑翔机系统设计与优化方法

中图分类号: U674.941; TP242
计量
- 文章访问数: 1170
- HTML全文浏览量: 230
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- 被引次数: 0
出版历程
- 收稿日期: 2023-02-08
- 修回日期: 2023-02-27
- 录用日期: 2023-02-28

Development and Application of Petrel Serialized Underwater Glider Technologies

YANG Shao-qiong^{1, 2},
LI Yuan-hao¹,
SUN Tong-shuai^{1, 2},
YANG Ya-nan¹,
YANG Ming^{1, 2
,},
WANG Yan-hui^{1, 2}

1.
School of Mechanical Engineering, Tianjin University, Tianjin 300352, China
2.
The Joint Laboratory of Ocean Observing and Detection, Laoshan Laboratory, Qingdao 266237, China

摘要

摘要: 水下滑翔机作为一种借助水动力实现水中滑翔前进的无人水下航行器, 其技术主要涉及水动力外形、耐压主体等总体设计技术，浮力驱动、姿态调节、能源动力、智能控制和传感集成等单元技术, 以及路径规划、协同组网等应用技术。我国最早研制成功的水下滑翔机——“海燕”号由天津大学深海智能装备团队主体研发, 自2002年起, 经过二十余年的发展, 已在工作深度、续航里程和传感集成应用等主要方面实现了谱系化发展。文中综述了“海燕”号谱系化水下滑翔机总体设计、浮力驱动、能源动力、协同组网以及海上试验应用等关键技术、先进方法和创新理论发展的现状, 并与仿生赋能相结合, 探索预测水下滑翔机技术发展趋势, 以期为我国无人水下航行器技术快速发展提供参考。
- 水下滑翔机 /
- “海燕”号 /
- 谱系化发展 /
- 总体设计 /
- 浮力驱动 /
- 能源动力 /
- 组网观测
Abstract: Underwater gliders are unmanned undersea vehicles that utilize hydrodynamic principles to glide through water. They rely on a range of technologies, including overall design principles such as hydrodynamic shape and pressure-resistant hull, specific unit technologies such as buoyancy-driven propulsion, attitude adjustment, energy management, intelligent control, and sensor integration, as well as application technologies such as path planning and collaborative networking. The deep-sea intelligent equipment team at Tianjin University has made significant advancements in the development of underwater gliders in China, having spent over 20 years since 2002 designing and refining their flagship model, the Petrel. This vehicle has achieved a high level of performance in critical areas such as working depth, endurance, and sensor integration. This review presents an overview of the key technologies, advanced methods, and innovative theories that have been used in the development of the Petrel series, including its overall design, buoyancy-driven propulsion system, energy management, collaborative networking, and sea trial applications. Additionally, we explore the potential of bionic technology to inform the future development of underwater glider technology. This review seeks to afford valuable insights that will inform the continued rapid advancement of unmanned undersea vehicle technology in China.
- underwater glider /
- Petrel /
- serialized development /
- overall design /
- buoyancy-driven /
- energy and power /
- networking observation

HTML全文

图 1 “海燕-L”航行轨迹

Figure 1. Navigation trajectory of Petrel-L

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图 2 水下滑翔机主要组成部分

Figure 2. Main components of an underwater glider

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图 3 水下航行器水动力外形设计示意图

Figure 3. Hydrodynamic profile design of the underwater vehicles

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图 4 水下滑翔机不同耐压壳体设计图

Figure 4. Different pressure-resistant shells of the underwater glider

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图 5 多学科优化后的“海燕-L”长航程水下滑翔机海上试验回收现场

Figure 5. Sea trial recovery scene of Petrel-L long-range-voyage underwater glider after multidisciplinary optimization

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图 6 水下滑翔机双级液压泵浮力驱动系统原理图

Figure 6. Schematic diagram of an underwater glider two-stage hydraulic pump buoyancy drive system

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图 7 “海燕-X”水下滑翔机浮力驱动系统实物图

Figure 7. Physical drawing of Petrel-X underwater glider buoyancy drive system

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图 8 “海燕”水下滑翔机混合被动浮力补偿系统

Figure 8. Hybrid passive buoyancy compensation system of Petrel

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图 9 鱼鳔及类鱼鳔二级浮力驱动系统

Figure 9. Fish bladder and Fish-bladder-like buoyancy drive system

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图 10 温差能水下滑翔机及其浮力驱动系统

Figure 10. Thermal energy underwater glider and its buoyancy drive system

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图 11 热电转换浮力驱动系统工作原理

Figure 11. Working principle of the thermoelectric conversion buoyancy drive system

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图 12 海洋温差能固-液相变工作原理图

Figure 12. Working principle of the solid-liquid phase change of ocean thermal energy

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图 13 水下滑翔机集成搭载模块化温差能捕获装置

Figure 13. Underwater glider with integrated modular thermal energy capture device

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图 14 风帆驱动水面/水下多航态航行器工作模式示意图

Figure 14. Schematic diagram of the working mode of sail-driven surface/underwater multi-mode vehicle

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图 15 风帆驱动多航态水下滑翔机原理样机及其水域闭环航迹图

Figure 15. Principle prototype of wind-sail driven multi-mode underwater glider and its closed-loop track diagram

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图 16 水下滑翔机多层级编队协同控制系统结构

Figure 16. Architecture of the multi-level formation collaborative control system of underwater glides

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图 17 “海燕-L”长航程水下滑翔机

Figure 17. Petrel-L long-range underwater glider

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图 18 TUCOS-I型自主水下航行器传感器分布

Figure 18. Sensors distribution of the TUCOS-I autonomous undersea vehicle

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图 19 “海燕-湍流”水下滑翔机为期127 d湍流观测海上试验任务的布放与回收现场图

Figure 19. Petrel-turbulence underwater glider deployment and recovery of its 127-day marine turbulence observation mission

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图 20 2019年夏季中国第10次北极科学考察中“海燕”水下滑翔机观测区域内垂直断面温度分布

Figure 20. Vertical distribution of temperature observed by Petrel underwater gliders in the summer of 2019, China’s tenth Arctic scientific expedition

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图 21 数字孪生驱动的快速个性化设计和全生命周期体系结构水下滑翔机管理框架

Figure 21. Architecture of Digital twin-driven rapid individualized design and full lifecycle management of underwater gliders

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表 1 “海燕”谱系化水下滑翔机主要发展历程

Table 1. The main development process of Petrel serialized underwater gliders

重要进展年份	水域试验地点	水下滑翔机类型	连续航行时间/d	实际航行里程 /km	设计最大潜深 /m	实际最大潜深 /m
2002—2007	青年湖、千岛湖及抚仙湖等	温差能驱动水下滑翔机	—	—	≥100	—
2002—2007	青年湖、千岛湖及抚仙湖等	电能混合驱动水下滑翔机	—	—	≥100	—
2009	千岛湖、抚仙湖	海燕	—	—	≥500	—
2015	南海	温差能水下滑翔机	40	706.4	≥1 000	1 025
		海燕-II	42	1 108.4	≥1 500	1 514
		海燕-200	26	≈600.0	≥200	≈240
2018	马里亚纳海沟	海燕-X	6	—	≥10 000	8 213
	马里亚纳海沟	海燕-4000	—	—	≥4 000	≈4 092
	南海	海燕-L	141	3 619.6	≥1 000	1 010
2019	南海	海燕-4000	68	1 423.0	≥4 000	3 419
2019	南海	海燕-L	301	4 435.0	≥1 000	1 026
2020	马里亚纳海沟	海燕-X^PLUS	5	—	11 000	10 619
2021	马里亚纳海沟至南海	海燕-L	208	5 506.0	≥1 000	≈992

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表 2 新型水下滑翔机不同壳体性能对比

Table 2. Performance comparison of four underwater glider shells

壳体形式	性能参数
壳体形式	质量/kg	排水体积/L	重排比	压缩率/%
圆柱壳	13.34	33.02	0.40	0.35
MIS	7.11	24.54	0.29	0.59
NARC	10.46	33.02	0.32	0.32
RAC	9.20	31.67	0.29	0.57

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