圆碟形水下滑翔机运动特性研究  

Study on motion characteristics of disc type underwater glider

作　　者：周晗 王天霖 于鹏垚 Zhou Hana;Wang Tianlinb;Yu Pengyaob(a School of Marine Engineerin;b School of Naval Architecture and Ocean Engineering Dalian Maritime University,Dalian Maritime University,Dalian 116026,Liaoning China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026 [2]大连海事大学船舶与海洋工程学院,辽宁大连116026

出　　处：《华中科技大学学报（自然科学版）》2018年第9期112-118,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点研发计划重点专项资助项目(2016YFC0301500);国家自然科学基金资助项目(51379025,51709030)

摘　　要：为了研究圆碟形水下滑翔机的运动特性,基于动量（矩）定理建立圆碟形水下滑翔机的运动控制方程,采用四阶龙格-库塔法求解.从圆碟形外形对运动性能的影响、垂向运动控制和微力矩控制转向角度三个方面对圆碟形水下滑翔机的运动特性进行研究.结果表明：圆碟形水下滑翔机的全翼身外形提高了升阻比并大幅降低了转向运动半径,大幅提高了其在小水体内的机动能力;水下定深性能较高,并且耗能较低;微力矩控制转向是可行的,滑翔机在小水体内能够灵活地运动.To study the motion characteristics of a disc type underwater glider,the motion control equation of the glider was established based on the momentum（moment） theorem,and the fourth order Runge-Kutta method was used to solve this problem.In this paper,the motion characteristics of the disc type underwater glider were studied in three aspects,the motion performance influenced by the disc shape,the vertical motion control and the angle controled by the micro-moment.The results show that the full-body shape of the disc type underwater glider increases the lift-to-drag ratio and greatly reduces the steering radius,and improves its maneuvering ability in the small water body.The performance of depth control is well and the consumption of energy is low.It＇s feasible to control the steering by the micro-moment,which allows the glider to move flexibly in small water body.

关 键 词：圆碟形水下滑翔机 运动特性 升阻比 微力矩控制 小水体 

分 类 号：P715.5[天文地球—海洋科学]