Design And Motion Simulation Of AUV-River

In recent years,with the rapid development of AUV,it has gained wide attention and played an important role in more and more fields.Due to its small size,light weight,low resistance and low cost,the Mini-AUV has become a hotspot in recent years.It is important to improve its overall performance in the design,make it longer life,lower cost,and establish a motion simulation system,to master its handling performance is of great significance.This paper designs and studies the AUV used for river exploration,also bulids the motion simulation system.The main work includes the following aspects:(1)Analyze the characteristics of the AUV in the water,and divide the system into different sub-disciplines,which are the structure,resistance and energy of the whole system.The four disciplines are analyzed and modeled respectively.The relationship between the variables and factors in the various disciplines and the overall performance is obtained.The initial design is determined according to the experience and norms.(2)The problem of poor overall performance of underwater vehicle designed by traditional design method is analyzed and studied.The application of multi-disciplinary optimization design method in the design of AUV-River is studied.This paper analyzes and discusses different optimization design frameworks and optimization algorithms,and compares them by case study to determine the sequence quadratic programming optimization algorithm based on simultaneous analysis and design method optimization framework as the multidisciplinary optimization algorithm of the AUV.Based on the above algorithm,the optimization of the AUV-River is carried out.The total resistance and the total weight are taken as the optimization target.The optimized scheme is compared with the initial design,and the optimization effect is obvious.The optimization algorithm is suitable for the AUV-River optimized design.(3)The whole system of the AUV is designed and studied,and its overall arrangement is completed and the center of gravity is checked.The control system of the underwater vehicle is designed and analyzed.For the general underwater vehicle control system complex,disassembly and maintenance of trouble to study the problem,based on modular thinking,the control of the cabin electrical system and the core control board are carried out design research,the design of the control cabin achieve the purpose of easy disassembly and maintenance.(4)The motion simulation model of the underwater vehicle is established and the motion simulation system is built.According to the optimized scheme,the motion of the underwater vehicle under the multi-propeller operation is studied,and the dynamic equation of the space motion is established according to its movement characteristics.The thrust curve of the propeller was obtained through the experiment,and the hydrodynamic coefficient of the hull was obtained by using the fluid calculation software.The simulation model of the actual motion of the underwater vehicle is established,and a series of motion simulation experiments are carried out.The motion simulation system is established to realize the purpose of horizontal,vertical and spatial simulation.In this paper,the AUV-River is designed and the multidisciplinary optimization research is carried out.According to the optimized boat type,the motion simulation system is established to provide some reference for practical engineering application.