Research On Maneuverability Of Wave Glider Tractor

With the progress of human science and technology,the huge resources of the global ocean have been continuously discovered by human beings.The various types of offshore platforms required to explore and collect ocean resources and ocean data have also become diverse.With its excellent endurance performance,non-pollution and strong load capacity,wave glider had occupied a place in the field of unmanned observation.However,due to the weak maneuverability caused by the complex double-body configuration of the wave glider itself,it had the disadvantages of poor maneuverability and inaccurate positioning during travel.At present,most scholars have improved and enhanced its maneuverability of the wave glider from the control system view,however the improvement of the control system will not only result in an inability to efficiently improve the maneuverability performance of the wave glider for its underactuated,but also lead to the increase of the power consumption of the platform and the wear of the manipulating system caused by the frequent steering of the system,so how to improve its maneuvering performance through the structure of the platform itself,this thesis aims at this problem,carried out the following research work:Firstly,the theory of numerical calculation in this thesis and the theory of six-degree-of-freedom motion of the submerged glider were explained in detail,and the thrust generated by the submerged glider wings during navigation was numerically calculated.Secondly,for the rudder of the submerged glider,the turning motion of the submerged glider under different rudder structural parameters were numerically simulated.The minimum turning diameter and the course changing ability were compared.Through the analysis,the relationships between the rudder parameters and the rotary motion of the submerged glider were obtained and the corresponding conclusion were drawn.Then,for the structural parameters of the submerged glider,the turning motion and the trajectory under ocean current interference of the different structural parameters were numerically simulated.The influence of the structural parameters of the submerged glider on the turning motion and the relationship between the structural parameters and the anti-flow interference capability of the submerged glider were analyzed.Finally,according to the relationship between the parameters of the rudder and the submerged glider and the turning motion and anti-flow interference capability,the structure of the submerged glider was optimized,and the sea trial experiment was carried out and compared with the trajectory before optimization showed that a series of analysis of the maneuverability of the submerged glider from the structural layer has achieved remarkable effects on the improvement of the maneuverability of the submerged glider.And it can provide theoretical basis and reference for the later optimization design of the submerged glider from the perspective of engineering application.