A newly hybrid-driven underwater robot design, dynamic motion analysis and hydrodynamic estimation

摘要

In order to improve the comprehensive properties of underwater vehicle, a hybrid-driven flying wing underwater glider has been developed in this paper. The SST-kω(Shear Stress Transmission) based on software Openfoam was used to investigate the hydrodynamics of the glider, and the simulation results fit well with the experiment data. The numerical results indicated that the glider's drag and lift coefficients decreased, and their reducing rates decreased as well when the velocity increased. When the attack angle increased, the drag and lift coefficients increased, and the glider's lift drag ratio first increased and then decreased. The maximum lift drag ratio occurred with the attack angle between 10 deg to 14 deg. In addition, the dynamics of the model with considering velocities of the sliding masses and ballast pump system mass has been presented, and the motion simulation results fit well with the experiment data, which demonstrated the accuracy of dynamic model.