Modeling And Analysis Of Surface Movement Of Autonomous Underwater Glider

The solar underwater glider we study in this paper carries a solar panel itself on its gliderwing. And it is equipped with a solar photovoltaic system, which can convert solar energy intoelectrical energy and store in batteries. When it works underwater, it can come to surfaceaccording to monitoring power status and use the solar photovoltaic system to charge thebattery, so that ensure the successful underwater operation. Therefore the solar underwaterglider is not only subjected to viscous hydrodynamic and inertia hydrodynamics, but alsowave force. It is really necessary to the seakeeping research of solar underwater glider.Firstly, the key of numerical calculation of wave force is numerical wave. This paperstarts from the basic theory of linear waves, and based on the viscous flow theory、CFDnumerical calculation method and VOF free surface tracking method to establish the deepwater wave simulation numerical wave tank with ANSYS CFX. Besides this paper analysisthe fitness of simulation free surface and theory free surface and the isopiestic pressure surfacevariation with water depth.Secondly, based on the numerical wave method above, this paper numerically calculatethe solar underwater’s wave force with ANSYS CFX under head sea condition、stern seacondition and bow sea condition. Then obtain and analysis the pressure cloud diagram of solarunderwater glider and vertical force and longitudinal wave torque variation with time.Finally, this paper infers the mathematical model of longitudinal coupling motionaccording to the strip theory. Then based on the mathematical model and the detail data ofvertical force and longitudinal wave torque obtained from numerical calculation, this papersimulates the longitudinal couple motion vertical displacement and pitching angle of solarunderwater glider with MATLAB, and obtain the swaying motion response curve. It hasguiding significance for seakeeping research.