Research On Body Shape Optimization And Motion Performance Of Water-jet Hybrid Underwater Glider

With the acceleration of the ocean detection development,underwater glider has attacked a lot of attentions,because of its low power consumption,long range and an ability to carry a variety of detection sensors.The water-jet hybrid underwater glider(shorten for WHUG)has long range and high maneuverability that it combines the advantages of the glider and the traditional automatic vehicle.WHUG has various working modes and can be used in different ocean environments,it has a promising future in ocean detection.The shape optimization and the motion analysis of WHUG have great significance.The body shape of glider is optimized by using NSGA-II algorithm.Accurate hydrodynamic coefficient calculation and dynamic model can provide theoretical support for the performance analysis of WHUG.Analyzing the numerical simulation results and the lake test results also provide data support for the improvement of system structure and that of control algorithm.The research work in this paper includes the following:1.Established the drag model and the shell surface pressure coefficient model of WHUG,and complete the optimization process by using NSGA-II algorithm.Comparing the drag and the shell pressure distribution of the four shapes verified the effectiveness of the optimization results.2.Compared the simulation results with the drag test results of the original glider,the accuracy of the numerical simulation method is proved.The position forces and moments are calculated by simulating the steady motion of glider,the additional mass coefficient and the rotational damping force coefficient is completed by using theoretical derivation.3.The pump thrust model,the gravity and the buoyancy model,the buoyancy regulation model and the centroid adjustment model are established by using the multi-body system dynamics with the momentum and momentum moment theory.The kinematics and the dynamics of WHUG are conducted.The performance test of the water-jet pump is completed.4.WHUG has the linear automatic stability of vertical and horizontal plane.The steady gliding motion,the steady spiral motion and the steady deep motion are simulated to predict the motion performance of WHUG.The results of the lake test verified the accuracy of the dynamic model and that of the simulation methods.