Diving Motion Modeling And Propeller Position Optimization Of Wearable Diving Propulsion Vehicle System

In recent years,as a place where human beings have not been widely developed and military strategies are indispensable,the ocean with extremely abundant reserves has gradually attached importance in the world.As an auxiliary diving equipment for various underwater special operations,the DPV has received great attention.However,due to the single function,complex structure and inflexibility of the traditional submersible propulsion equipment,the diving efficiency is low and inconvenient.It is necessary to study the new multi-functional auxiliary diving propulsion equipment.In view of this,this paper proposes a new type of diving propulsion equipment,establishes a 6-DOF diving motion model,and performs hydrodynamic performance analysis,motion simulation and propeller position optimization.Firstly,combining the existing diving equipment and propeller,a new type of frogman diving propulsion equipment is proposed,and its structural composition and working principle are described.The hydrodynamics of the frogman during underwater movement are analyzed.In the complicated diving process,the human body structure is taken as a rigid body without considering the influence of the human body's own motion,and the 6-DOF diving motion model is established by using the momentum theorem.Secondly,the 6 viscous hydrodynamic coefficients and 17 inertial hydrodynamic coefficients in the motion model are obtained based on FLUENT numerical simulation.The correctness of the simulation process was verified by simulating the added mass of the similar ellipsoid.Through the improvement of the unknown parameters in the model,the 6-DOF motion model was established.Thirdly,the Simulink motion simulation model is established and emulated by the simplified 6-DOF formula.The correctness of the model is proved by the velocity versus time curve and the motion trajectory.Finally,the propeller position optimization model based on the minimum external force of rectilinear diving and slewing motions is established,and the optimal position pointset of the propeller is obtained.The speed curve and the motion trajectory show that the optimized propeller position can effectively reduce its vertical speed,improve diving efficiency,reduce the physical exertion of the diver and improve the stability of the diving movement.Through the research in this paper,it provides a reference for the further design and optimization of the frogman diving propulsion equipment,and provides a basis for the design of its control system.