Research On Structural Design And Movement Stability Of Semi-Submersible Unmanned Boat

Compared with land,the ocean is wider and contains huge resources.With the development of science and technology,people pay more and more attention to the development and protection of marine resources.Various types of underwater robots have been developed in various countries around the world.The semi-submersible unmanned boat is a type of underwater robot.Its structure is designed with reference to the surface unmanned boat and the underwater robot.To replace humans to complete underwater operations.This article uses a modular design method to design a new type of semi-submersible unmanned boat,detailed design of each component module,and stability design and motion stability analysis,the boat can be carried out in offshore or larger lakes Monitoring and water quality testing.The main work of this article is as follows:According to the structural characteristics of semi-submersible unmanned boats,the structure is designed using a modular concept.According to the concept of modularization,the function of the boat is decomposed from the aspect of interface constraint relationship,and the parts with a greater degree of correlation between the function and the interface constraint relationship are grouped into a unified module,and the boat is divided into eight modules: control system function Module,support frame device module,left energy device module,left sensor device module,left drive device module,right energy device module,right sensor device module and right drive device module.On the basis of the functional modules divided into semi-submersible unmanned boats,the layout design is carried out,and the detailed structural design of each composed module is carried out.The energy device module and the drive device module were designed with static seal and dynamic seal.The underwater part of the boat adopts a double hull design with high stability,with the goal of reducing the water resistance encountered during the movement of the double hull.When the length and width of the hull are determined,the hull stern is determined by FLUENT simulation The structural dimensions of the head and the bow and the optimal spacing between the two hulls.In order to make the strength of the main hull hull meet the requirements of underwater operations,the wall thickness of the main hull is designed according to the strength requirements,and the static stress analysis is performed on the hull of a single hull using Simulation software.Study the stability of semi-submersible unmanned boats.Firstly,according to the stability requirements,using the weight as the design variable,the calculation function of the center of gravity and the center of buoyancy of the overall structure of the semisubmersible unmanned boat is established.According to the stability judgment criterion,the weight of the weight is calculated.Then,the dynamic model of the semi-submersible unmanned boat is established,and the static stability and dynamic stability of the horizontal plane are analyzed through the criterion of the stability of the motion.According to the result of insufficient stability of the motion,the control system is correctly designed to achieve the stability of navigation.Suggestions.Finally,a prototype was manufactured,and the lake test and the sea test were carried out to verify the rationality of the structural design of the semi-submersible unmanned boat.The test showed that the design was correct.