Study On Motion Mechanism Of Autonomous Propulsion Submerged Buoy

Autonomous profiling floats and underwater gliders are two kinds of widely used underwater vehicles,with their characteristics of low power consumption and long duration to meet the requirements of ocean in situ detection nowadays.These two unmanned underwater vehicles can sink and buoy themselves by buoyancy adjustment in water without any traditional propellers to measure the data of temperature,salinity and DO,etc.in the ocean.Autonomous profiling float operates in the ocean by its autonomous up and down motion and drift under the action of ocean current.The underwater glider,however,besides the autonomous up and down motion,adjusts its gesture,to conduct a zigzag motion in the ocean.The autonomous profiling float can work submerged for quite a long time because it dissipate all of its energy for buoyancy adjustment.Thus,according to the structure of autonomous profiling float,considering the moving principle of the underwater glider,we came up with a new structure of autonomous propulsion submerged buoy,and have an exploration of its structure design and motion mechanism.The article gives the design scheme of the autonomous propulsion submerged buoy,including the design of pressure hull,the buoyancy adjustment system,the rotating wings,and the selection of other hardware.The article also presents a kinetic model for the autonomous propulsion submerged buoy.We would parameterize the model,analyze the relationship between its geometry/quality feature and motion characteristics,and then deduce its kinetic equation,furthermore the kinetic equation in the vertical section,equilibrium equation in steady motion and analysis about the stability and motion efficiency.CFD analysis would also be given to detect the force on the submerged buoy and its motion characteristic under conditions of different submerged buoy geometry parameters,flow velocities and buoyancy adjustment parameters.The analysis would provide a reference to the structure optimization.The article also introduces the tank experiments and the preparation of the experiments,analyzing the data about its motion in the experiments and getting the regular pattern about the motion of the submerged buoy.The experiments validated the autonomous propulsion ability of the autonomous propulsion submerged buoy.