| Underwater glider is a new kind of Autonomous Underwater Vehicle.without traditional propulsion,it is driven by the difference between its own buoyancy and gravity.Its structural characteristics make it a long-time,large-scale,low-noise underwater vehicle.Traditional underwater glider is divided into hull and wings.Because the hull cannot provide lift,so traditional underwater gliders cannot get a high speed.The concept of fly-wing is from aircraft,which means there is no hull or hull is hidden in wings.Fly-wing underwater gilder is a new kind of underwater glider.It has better hydrodynamic performance,and can be made into a large scale.This research focuses on underwater glider and it discusses the designing and experimental studying of underwater glider.Considering characteristics of each module as well as the requirements of maneuverability and shipstatics,a overall planning of underwater glider is worked out.Based on this,caculation of glider’s weight,center of gravity,buoyancy,center of floating is conducted.Then in order to maximum the range of pitch and roll,optimization design is conducted.The last step of design is mechanical design of buoyancy adjusting system and attitude adjusting system,which includes the design of mechanical structure,the determine of parameters,the selection of actuators(motors,valves etc.)and reliability analysis.Experimental research is carried out first on each function module,then test on the whole vehicle is conducted.To meet the needs of tank test,emergency buoyancy system and infrared remote control device are added onto the vehicle.Tank test shows that the design of fly-wing underwater glider is reasonable.Also,it comes out that fly-wing underwater glider has advantages over traditional one.Eventually,the result of this research is a laboratory prototype.Through prototype testing,we grasp useful rules about the design of fly-wing underwater glider. |
