Structure Design And Dynamic Analysis Of Small-type Long Rang AUV

The Small Long-Range AUV(SLRAUV)is a new type underwater vehicle,this vehicle which has AUV capability and it can observe the ocean for a large-scale and a long-term.SLRAUV has some characteristic such as high voyage efficiency,low resistance and wide range of observation,it can sail on surface of the water and can also sail underwater rate depth.The improved fluid power low resistance line type be applied on the hull of this vehicle,the shape with low resistance and good space utilization,the tail propeller can obtains high efficiency under conditions of low rotation and large diameter,the small long-range auv will continues to travel at lower speeds and will obtains large thrust to sail on high velocity under conditions of high rotation by using this propeller design method,two propulsion modes were to meet the requirements of long range and mobility.This article relies on national science and technology projects,for the marine environment observation need of long time and large-scale to design and manufacture the small long-range auv engineering prototype.This paper focus on the overall design scheme and unit design of the SLRAUV.This paper studies the realization principle of the long voyage,based on the current AUV design method to improve the voyage from the aspects of high efficient propulsion,high efficient navigation,high efficient steering and large energy carrying.Combining the AUV with the AUG to design the AUV drive mechanism,the floating and diving modules are the same as AUG,the propulsion module adopts the conventional AUV driving mechanism,and the propeller is optimized for the power propulsion.This paper adopts the low resistance hydrodynamic force Shape to design the body of SLRAUV,while improving the internal space of the hull utilization for equip more power battery in a limited space,optimize the surface parameters of tail rudder to improve steering efficiency.Then,the kinematics modeling of small long-range AUV is carried out,the kinematics and kinetic equations are established,and the relationship between the external force and its motion state is analyzed.Based on the established dynamic model,the computer simulation is carried out to analyze the motion performance and verify the structural design,and obtain the kinetic parameters.The final results of the water test proved that it achieved the expected indicators and functional requirements,and the results are shown to be close to the theoretical predictions.The main research results and innovation:1.Combined with AUV and AUG drive characteristics to achieve a small long-range AUV design method,and carried out the relevant test to verify the prototype,the AUV prototype can continue to sail more than 700 km under conditions of low velocity 0.5m/s,the maximum velocity of this AUV prototype up to 2m/s,conduct global positioning and data communications.2.Combined numerical calculation with solid modeling to design the low load propeller with features low-rotation and large-diameter,this method can fast and accurate to design propeller.The propeller be designed using this method will achieve high propulsion efficiency under conditions of low rotation and obtain larger thrust under conditions of high rotation,The maximum efficiency of up to 0.73,the maximum thrust of up to 60 N.