水下滑翔器动力学建模及优化设计.pdf

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1、第14卷第3期2010年3月船舶力学JoumalofShipMechanicsV01．14No．3Mar．2010ArticleID：1007—7294(2010)03—旬228—09DynamicModelingandOptimizationDesignonUnderwaterGlidersZHANGHongr-能e≯，WANcYan—hu≯，CllENCh∞一讧n91，zllUGuc饥g一脚en?(1TianjinUniversity，Tianjin300072，China；2NationaL0ceanTechnolog

2、yCenter，’rianjin300111，China)Abstract：Underwater科idersarenewnoatationdevicesthatareusedextensiVelyforoceanographicanalysis．卟everticalmotionofunderwaterglidersisdeteHninedbythegliders’buoyancytograVityspecificmtio．111ehorizontaJmotioniscontrolledbytIlefⅨedhorizontal

3、win铲andmerelatiVeposi-tionofgmvityandbuoyancycenter．Inthispaper，thedynamicsanddesignofunderwaterglidersarestudiedu8ingGibbsfunctionandAppeUequations．Int量le6rststepoftlleanalysis，generalequationsthatdefinetherelationshipbetweenthemovingmassinthegliderandtheglider’sd

4、ynamicsareobtained．Next，ComputationaInuidDynamics(CFD)softwareFLuENTisusedtoobtainthe—ider’shydrodynamicparametersfordynamicmodeling．Sincethepositionofthewingsisoneofthemostimportantdes培nparameters，abetterop【imaLlpositionisdeteH【linedinordertominimizethepowerconsum

5、ption．FinaLlIy，simulationandexperimen谊tionareusedt0validatetheproposedmodeLKeywords：underwaterglider；dynamicmodeling；Gibbsfhnction；AppeUequation；CFDCI．Cn¨mber：Iy674．94lDocumentcode：A1IntroductionInrecentyears，underwaterglidershaVereceiVedincreasedattentionlrombotha

6、cademlaandindustry．Theconceptf．0rconVentionalunderwaterglidersisde“Vedf而mautonomousun—derwaternoatswhichwere6rstproposedbyHenryStommelin1989【1】．The6rstprototypeoftheunderwater91iderwasdes培nedbyWebbResearchCorp．intheU．S．A．inl995【2】．sincetheirintroduction，underwaterg

7、lidershavebeenusedextensivelyf．oroceanographicsensinganddatacollection．TheyhavespecialbuoyancydeVicesthatmakethemattractiVefbrtheseapplications．ThebuoyancydevicesalternatelyreduceandexpandtheVolumeofwaterdis—placedbyt11edider，therebycontroUingthediveandclimbofthe西i

8、der血roughtllewater．‘rheI℃sultingmotionofthegliderisasaw—toothedpattem．BycontrollingthesedeVices，theglidercanbemadetofollowprogrammedtrajecto^es．A