“海燕”号谱系化水下滑翔机技术发展与应用  

Development and Application of Petrel Serialized Underwater Glider Technologies

作　　者：杨绍琼[1,2] 李元昊 孙通帅 杨亚楠 杨明[1,2] 王延辉 YANG Shao-qiong;LI Yuan-hao;SUN Tong-shuai;YANG Ya-nan;YANG Ming;WANG Yan-hui(School of Mechanical Engineering,Tianjin University,Tianjin 300352,China;The Joint Laboratory of Ocean Observing and Detection,Laoshan Laboratory,Qingdao 266237,China)

机构地区：[1]天津大学机械工程学院,天津300352 [2]崂山实验室海洋观测与探测联合实验室,山东青岛266237

出　　处：《水下无人系统学报》2023年第1期68-85,共18页Journal of Unmanned Undersea Systems

基　　金：国家重点研发计划项目(2016YFC0301100);中国博士后科学基金(2022TQ0233,2022M722367).

摘　　要：水下滑翔机作为一种借助水动力实现水中滑翔前进的无人水下航行器,其技术主要涉及水动力外形、耐压主体等总体设计技术,浮力驱动、姿态调节、能源动力、智能控制和传感集成等单元技术,以及路径规划、协同组网等应用技术。我国最早研制成功的水下滑翔机——“海燕”号由天津大学深海智能装备团队主体研发,自2002年起,经过二十余年的发展,已在工作深度、续航里程和传感集成应用等主要方面实现了谱系化发展。文中综述了“海燕”号谱系化水下滑翔机总体设计、浮力驱动、能源动力、协同组网以及海上试验应用等关键技术、先进方法和创新理论发展的现状,并与仿生赋能相结合,探索预测水下滑翔机技术发展趋势,以期为我国无人水下航行器技术快速发展提供参考。Underwater gliders are unmanned undersea vehicles that utilize hydrodynamic principles to glide through water.They rely on a range of technologies,including overall design principles such as hydrodynamic shape and pressure-resistant hull,specific unit technologies such as buoyancy-driven propulsion,attitude adjustment,energy management,intelligent control,and sensor integration,as well as application technologies such as path planning and collaborative networking.The deep-sea intelligent equipment team at Tianjin University has made significant advancements in the development of underwater gliders in China,having spent over 20 years since 2002 designing and refining their flagship model,the Petrel.This vehicle has achieved a high level of performance in critical areas such as working depth,endurance,and sensor integration.This review presents an overview of the key technologies,advanced methods,and innovative theories that have been used in the development of the Petrel series,including its overall design,buoyancy-driven propulsion system,energy management,collaborative networking,and sea trial applications.Additionally,we explore the potential of bionic technology to inform the future development of underwater glider technology.This review seeks to afford valuable insights that will inform the continued rapid advancement of unmanned undersea vehicle technology in China.

关 键 词：水下滑翔机 “海燕”号 谱系化发展 总体设计 浮力驱动 能源动力 组网观测 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TP242[交通运输工程—船舶与海洋工程]