Research On Submerged Glider Modeling And Dynamic Characteristics Of Wave Glider

With the rapid development of society,crude oil,natural gas and other traditional resources depletion,scholars began to focus on Marine resources research around the world,people use a variety of ways to explore Marine resources,Marine environment detection equipment research is particularly important,wave glider is a wave to drive new Marine environment detection equipment,It was floating in the water,underwater tractor and the umbilical cable connects the two wave underwater gliders rely on purely mechanical structure of the tractor will capture the waves can be converted into its driving force,with large scope,long sequence,autonomous navigation and other advantages,in the process of information detection in the sea,the waves of the glider dynamic performance is the key to achieve effective observation,In order to improve the dynamic performance of the wave glider,this paper studies the dynamic modeling and dynamic characteristics of the underwater tractor of the wave glider.The main research contents are as follows:Firstly,the composition of the wave glider is introduced.Based on the wave theory,the motion mechanism of the wave glider is described in detail.Based on ship dynamics theory,the stability and motion constraints of wave glider in seawater are analyzed.The underwater tractor mechanism design is completed and the underwater tractor 3d model is obtained.Second,select the appropriate coordinate system and the coordinate transformation,for underwater tractor function expressions of the motion parameters,underwater tractor kinematics equation is deduced,considering inertial force,hydrodynamic,foil hydrodynamic parameters,according to the momentum theory,deduces the dynamics equation of underwater tractor,to establish the dynamics model of underwater tractor,MATLAB software is used to verify the correctness of the mathematical model.Thirdly,CFD software was used to simulate the dynamic performance of the hydrofoil,and the influence of different airfoils,different hydrofoil spacing and different number of tandem hydrofoil on the dynamic performance of the underwater tractor was studied.The action rules of different parameters on the dynamic characteristics were summarized,which provided theoretical basis for the structural design optimization of the underwater tractor.Finally,combined with the above theory and simulation analysis results,the underwater tractor airfoil profile,hydrofoil spacing and different number of tandem hydrofoil were optimized and designed,and a wave glider prototype was made.A comparative test was conducted at sea with the underwater tractor before optimization.The sea test data showed that,After optimization,the speed of underwater tractor is increased from 0.31m/s to 0.38m/s,which verifies the correctness of dynamics modeling and optimization design.