Shape Optimization And Analysis Of Autonomous Underwater Vehicle Base On Hydraulic Characteristics

The design of AUV(Autonomous Underwater Vehicle) include two parts: Mechanical system and control system. Mechanical system is the carrier and foundation of control system, the shape is the key factor that affects the performance of Hydraulic characteristics, so this paper aims to make preparation and provide earlier date basis for the design of control system, and at the same time it provides theoretical basis for further underwater tests.According to the basic data of the first AUV's model, this paper aims to find a further shape optimization for whole prototype by experiment and simulation analysis, and the better hydrodynamic performance of shape is got, so it make a good hardware preparation for control system. Then, researching on hydrodynamics model, the hydrodynamic performance under special working conditions and the calculation of hydrodynamic coefficients were studied to provide the reference for the design of control system. Around the target, the following aspects will be researched:(1) Based on the research of the first AUV's model, In order to solve the problem we face when designing, manufacturing, installation, debugging, experiment of underwater, a further shape optimization is presented. The optimization mainly includes:the determination of main parameters of Streamline, the determination of wing's size and position, the design of rudders and sealing method. Then make a multi-objective optimization for overall shape in order to gain the better hydrodynamic performance.(2) Modeling and analysis of kinematic. Introducing two coordinates and their transition relationship to describe the movement of AUV, then analysis two basic movements, so the dynamic equation of horizontal and vertical is given. Finally, the six degree of freedom freedom motion equation of AUV were obtained.(3) Analysis of the hydrodynamic performance when AUV close to the sea bottom. The distance between AUV and sea bottom, the submarine flowing speed, the attack angle, the angle of right ahead of AUV and the length of the angle have an influence on the hydrodynamic performance were mainly studied, it provides earlier date basis for the design of control system and the experiment of underwater, and it provides reference for sailing safely when close to sea bottom.(4) Introduce the solution method of hydrodynamic coefficients. Most of the hydrodynamic coefficients of autonomous underwater vehicle are obtained by the method of approximate calculation. It provides references for the design of control system, and provides theoretical basis for further underwater tests.