Research And Development Of A New Towing And Self-propelled Underwater Vehicle

The cradle of marine life has precious and abundant marine resources.As an important tool for exploring the ocean and developing marine resources,more and more experts and scholars continue to research and develop underwater vehicles.The purpose of this paper is to develop an underwater vehicles that enables simpler control to achieve multi-degree-of-freedom motion during towing and self-propelling.It uses a smaller total volume and total weight to carry more marine detection equipment.It can detect a larger area with less energy consumption,and simultaneously adapt to different ocean detection missions,and has better autonomous stability and navigation stability.The main tasks are as follows:1.Based on the collection of a large number of underwater submersible technical data,the existing underwater submersible design basis and the design requirements for underwater submersibles in this paper are analyzed,and several preliminary design models of underwater submersibles are proposed.List the advantages and disadvantages of these several design models,and choose a models that better meets the design requirements of this thesis through multiple comparisons.2.Optimize the shape of the buoy,cabin,hydrofoil and other structures of the selected scheme to meet the requirements of loading capacity and control force,and have good hydrodynamic performance.Based on this,the main dimensional parameters are determined.3.Calculate the strength of the structure,use the simulation to calculate the structural stress during the lifting process and a certain depth of water,and adjust the structural thickness and design of the internal structure based on the calculation results.4.Numerically calculate the final structural shape resistance and the moment of multi-degree-of-freedom movement.According to the calculation results,the equipment is selected,and the equipment is arranged and installed at the same time.After the layout is completed,the center of gravity,center of buoyancy and stability are calculated.5.Calculate the self-propelled point of the underwater submersible at different speeds of each propeller during self-propelled operation,and draw the change curve of the self-propelled point with the propeller speed based on the calculation results.And analyze the multi-degree-of-freedom maneuvering mode during self-propelled.6.Carried out the construction of the overall shape of the prototype,the commissioning and installation of equipment.Then the water tightness test,floating state adjustment and self-supporting stability test of the prototype were carried out in the water tank,and finally the inland river self-propelled and tow test was conducted.