Design Of Surface And Underwater 450m Unmanned Vehicle And Key Technology Research

There is a huge amount of resources in the ocean.In recent years,China pays more and more attention to the ocean development.However,the complex and changeable underwater environment brings great risks to the activities such as resource detection and underwater sweep mapping.In order to achieve the efficiency mprovement of underwater task and reduce the risk of personnel operations,this thesis designed a surface and underwater unmanned450 m vehicle.On the basis of ensuring its own stable work,it efficiently completed underwater operations such as exploration,obstacle avoidance and regional monitoring by using various instruments and equipment carried inside.Based on the current research situation and existing issues of unmanned vehicle in domestic and foreign fields,according to the circumstances and peculiarity of underwater operation,an overall design of surface and underwater 450 m unmanned vehicle,including the general design of shipbody structure system and control system,is carried out.According to the idea of modularization and standardization,the mechanical design of the unmanned vehicle is completed,and the external structure style,overall layout,equipment module selection and other aspects of the unmanned vehicle are designed in detail.In accordance with the matching of the fore steering heave module and aft propellant module,the design of the power system of the unmanned vehicle is completed.The overall design of the control system that carries the communication module to realize the navigation and operation of the unmanned vehicle is carried out.By means of finite element analysis method and prototype simulation,the pressure resistance of the hull of the unmanned vehicle developed in the working environment is analyzed.Aiming at its structural characteristics,the stress model of the hull of the unmanned vehicle under water pressure is created,the force conditions of the key parts is analyzed,and the function of its structure coefficient and dimension parameters on the compressive performance is studied.Using ANSYS simulation software,the simulation method of control variables is used to stress the pressure performance of the unmanned vehicle,adjust the size parameters of the pressure shell and improve its performance.Aiming at the underwater navigation of the unmanned vehicle,the hydrodynamic resistance characteristics are deeply analyzed and studied.The CFD(Computational Fluid Dynamics)software is used to complete the Fluid Dynamics simulation of the model of the unmanned vehicle,and the resistance of the vehicle is analyzed when various positions and postures change under sailing conditions.The Realizable 6)- turbulence pattern was used and the nearwall functions method was used to reduce the disturbance of turbulent flow.The flow field model was optimized to increase the accuracy of simulation results and contribute to a reliable foundation for the selection of propulsion system.Based on the overall design of the unmanned vehicle control system,an overall control system which combines the shore control with the onboard control by using the communication system is established.S7-200 Smart PLC is used as the controller,and selection of the hardware including motor drive,sensor and communication module were designed by EPLAN.A Radial Basis Function(RBF)neural network control algorithm for unmanned vehicle is selected.The simulation analysis of the algorithm is completed by MATLAB software.The results show that this control method has better control effect.Completed the software design of navigation control,information sampling,path positioning,environmental state monitoring and other modules.Finally,the prototype test is carried out for the developed unmanned vehicle.Optimized sample of pressure shell of unmanned vehicle was designed and made,and hydraulic simulation test was carried out to test and optimize the bearing capacity of pressure structure.The dynamic performance of the propulsion system was obtained through navigation test in lake waters.Analyzed and compared the test results to further verify the effectiveness of the design work of the unmanned vehicle,and provide a valuable theoretical basis for the subsequent research and development of the unmanned vehicle improvement work.