基于柔性可折叠翼的水下滑翔机建模与运动特性分析  

Modeling and kinematic characteristic analysis of underwater glider based on flexible foldable wings

作　　者：李振宇 陈质二[1,2] 俞建成 杨庆[1,2,4] LI Zhen-yu;CHEN Zhi-er;YU Jian-cheng;YANG Qing(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049 [4]东北大学机械工程与自动化学院,沈阳110819

出　　处：《船舶力学》2022年第10期1433-1444,共12页Journal of Ship Mechanics

基　　金：国家重点研发计划项目(2016YFC0301201);国家自然科学基金面上项目(41976183);机器人学国家重点实验室课题(2017-Z13)。

摘　　要：针对水下滑翔机载机空投部署和潜艇管式发射部署的应用需求,本文设计了一种新型柔性可折叠翼水下滑翔机。采用CFD数值模拟方法对水下滑翔机不同翼面形变下的升力、阻力与俯仰力矩进行计算,利用最小二乘法拟合得到翼形变与水下滑翔机水动力系数之间的函数关系。基于牛顿-欧拉方程建立柔性可折叠翼水下滑翔机在流体中的动力学模型,通过设定模型中净浮力和重心调节控制参量并改变翼面形变量对锯齿和螺旋两种典型滑翔模式进行仿真。根据仿真实验结果得到了两种滑翔模式下滑翔机运动参数与翼面形变量之间的关系,为后续滑翔机自适应翼形变控制和运动性能优化提供了良好的研究基础。Considering the application requirements of the underwater glider deployment from aircrafts and submarines,a new type flexible foldable-wings underwater glider was designed in this paper.The lift,resis⁃tance and pitching moment of the glider in the flow field were solved based on the CFD simulation and the functional relationship between wing deformation and hydrodynamic parameters of the underwater glider was obtained by using the least square method.The dynamics model of the flexible foldable-wings glider was es⁃tablished by Newton-Euler equation.Two typical motion modes,sawtooth and spiral,were simulated and ana⁃lyzed by setting the wing deformation and changing the buoyancy and gravity control quantity of the model.According to the simulation results,the relationship between the glider motion parameters and the wing defor⁃mation in the two gliding modes was obtained,which provides a good research foundation for the subsequent glider adaptive wing deformation control and motion performance optimization.

关 键 词：柔性可折叠翼 形变 水动力系数 动力学模型 运动仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]