提出了一种可控翼混合驱动水下滑翔机的概念,借助独立控制的左右滑翔翼和螺旋桨推进器,该滑翔机能够实现高效率滑翔推进和高机动性螺旋桨推进2种推进方式,可有效解决现有水下滑翔机或推进效率低或机动性差的问题.为了研究该滑翔机的运动性能,基于Newton-Euler法建立了六自由度运动数学模型.通过求解稳态滑翔运动平衡方程,定量分析了可控翼翻转角对滑翔机滑翔性能的影响.根据六自由度动力学模型,对该滑翔机的滑翔运动和螺旋桨推进运动进行了仿真研究,仿真结果表明可控翼混合驱动水下滑翔机相比常规水下滑翔机有较高的航行性能.%Underwater gliders are a new class of underwater vehicles. A hybrid-driven underwater glider with independently controllable wings has been designed at Northwestern Polytechnical University. The glider features high efficiency when penetrating the ocean like common underwater gliders and high maneuverability when propelled by a propeller. As part of the development, motion characteristics of the vehicle need to be analyzed. Sections 1, 2 and 3 explain our exploration. Their core consists of; " Firstly, we propose the novel layout of the hybrid-driven underwater glider with independently controllable wings; then, we establish the 6-DOF dynamic model based on Newton-Euler method with gravitation, buoyancy, added-mass and hydrodynamic forces considered; Thirdly, we study the effect of independently controllable wings on the vehicle motion performance quantitatively by solving the equilibrium equation.". Numerical simulations are performed in Section 4. The simulation results, given in Figs.4 through 7, demonstrate preliminarily that: ( 1) hybrid-driven underwater glider with independently controllable wings has a better motion performance than those of previous gliders; (2) propeller can enhance the traveling velocity and maneuverability of the glider; (3) the vehicle is stable in all expected motion situations. Section 5 presents our preliminary main conclusions, which may be useful for the future manufacture of the vehicle.
展开▼
