The Design And Research Of Unmanned Semi-Submersible Vehicle

Unmanned Semi-Submersible Vehicle is a kind of unmanned boat newly developed in recent years.It has the advantages of main hull avoiding wave area,communication and positioning not affected,excellent self-stability,concealment,good seakeeping resistance,small wave resistance,etc.It has a wide application prospect and value in military and civil fields.In this paper,the low-resistivity shape,modular structure,anti-tilting,lifting function and water tightness are studied,and the structure of Unmanned Semi-Submersible Vehicle integrating the above characteristics is designed.The Vehicle can monitor hydrological data such as water temperature,water pressure,dissolved oxygen amount and PH value in offshore or large lakes.The main work of this paper are as follows.First,following the principles of low resistance,modularity,simplicity and multi-function,the design method of "whole first,then part" was adopted to determine the overall layout plan of Unmanned Semi-Submersible Vehicle,and then the modules were divided according to the functions.Unmanned Semi-Submersible Vehicle is divided into three functional modules: main body,lifting mechanism and floating body.This paper analyzes,selects and designs the scheme of each module,waterproof seal structure and tumble-proof performance of Unmanned Semi-Submersible Vehicle,and determines the general scheme of mechanical structure of Unmanned Semi-Submersible Vehicle and the reasonable scheme of each functional module.Second,the modules of Unmanned Semi-Submersible Vehicle were analyzed and designed in detail,and the software SolidWorks was used for 3D modeling.Because the main hull is more complicated,the main hull is divided into six small functional modules,such as a shroud,a battery compartment,a lifting propulsion cabin,a sensor compartment,a propulsion motor compartment,and a fairing.The structure of eachmodule is designed in detail,and the main hull of Unmanned Semi-Submersible Vehicle is analyzed by the fluid simulation software Fluent to reduce the navigation resistance.The shroud and fairing of Unmanned Semi-Submersible Vehicle are different.The simulation is carried out under the long half-axis size to obtain the navigational resistance of the corresponding size,and the size of the shroud and fairing corresponding to the relatively small resistance is obtained.According to the flow of water flow in the sensor cabin under three different schemes,a reasonable sensor tank opening scheme was selected.After optimizing the structure,the flight resistance and required power of Unmanned Semi-Submersible Vehicle at different speeds were calculated by Fluent analysis,and the motor power of Unmanned Semi-Submersible Vehicle was calculated.After selecting the materials of each component of Unmanned Semi-Submersible Vehicle,the finite element analysis module Simulation is used to check the strength of the main hull shell and lifting mechanism.The results show that the designed structure has sufficient strength.Next,in order to make Unmanned Semi-Submersible Vehicle have better wind and wave resistance,the design and check of the tumbler was carried out.According to the condition of the tumbler,the installation position of the lifting mechanism is calculated,and the tumbler at a small inclination is checked and the tumbler under the large dip angle is analyzed.After analyzing the tumbler under the large dip angle and the greater the recovery torque,the better the performance of the tumbler.It is verified that Unmanned Semi-Submersible Vehicle designed in this paper has a tumbler structure.Finally,make a prototype and test its function to verify that it meets the expected design goals.The main tests include water tightness,sailing speed,tumbler performance and lifting of the main hull.According to actual measurement,the maximum forward speed of Unmanned Semi-Submersible Vehicle in still water is 1.56m/s.The lifting of the main hull can be accomplished by a lifting mechanism with good water tightness.After tilting 180°,it can return to its original positive floating state,and the tumbler structure is also verified.The experimental results show that the water tightness,forward speed,lifting mechanism and tumbler performance are basically in line with the requirements of the scheme design,which proves that the design is successful.In general,Unmanned Semi-Submersible Vehicle designed in this paper satisfies the design requirements well,that is,it has the function of lifting and lowering,good water tightness,low resistance shape,tumbler structure,and has certain use value forthe future Unmanned Semi-Submersible Vehicle.The design of the Unmanned Semi-Submersible Vehicle provides a new design idea.