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浙江大学学报(工学版)
浙江大学学报(工学版)
机械工程     
水柱测量中的水下滑翔机转向性能
朱雨时,杨灿军,吴世军,徐晓乐,周璞哲,单鑫
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Steering performance of underwater glider in water column monitoring
ZHU Yu shi, YANG Can jun, WU Shi jun, XU Xiao le, ZHOU Pu zhe, SHAN Xin
State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China
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摘要：

为了实现水体的水柱测量,设计一种具备大范围俯仰角调节能力的水下滑翔机.该滑翔机利用多自由度重心调节系统,能同时实现常规滑翔与竖直剖面监测.研究扩大水下滑翔机在水柱测量点之间的间隔并提高转向过程的效率的方法.采用经过扩展攻角的水动力模型、计算流体力学方法、运动仿真以及湖水试验,分析不同的侧翼位置以及转向俯仰角对应的转向性能.试验与仿真结果表明,将侧翼位置远离尾翼并在转向过程中保持较小的俯仰角,能够减小转向半径,提高转向率以及整个滑翔过程在目标方向上的覆盖范围.湖水试验显示,相对于常规的27°转向俯仰角,使用更优的5°转向俯仰角可以使转向半径降低66%,使转向率提高330%,使目标覆盖距离提高77%.
Abstract:

An underwater glider was presented for water column monitoring, which could adjust its pitch angle within a large range. The underwater glider could realize both normal gliding and vertical profile monitoring by using a gravity center adjustment module with multiple degrees of freedom. Research was conducted to enhance the steering efficiency for the underwater glider and enlarge the spacing between different water column checkpoints. An amended hydrodynamic model for large range attack angles was presented. Hydrodynamic coefficients computation, motion simulations, and a lake trial were conducted to analyze how the position of the wing and the steering pitch angle influenced the steering process. The results of the simulations and the lake trial show that enlarging the distance between the wing and the tail, and decreasing the steering pitch angle can reduce the steering radius, enhance the steering ratio, and enhance the horizontal deviation distance on the desired orientation. The lake trial shows that steering with the optimal pitch angle at 5° decreases the steering radius by 66%, increases the steering ratio by 330%, and increases the desired deviation distance by 77% over steering with a normal pitch angle at 27°.
出版日期: 2016-09-22
:  TP 242  
基金资助:

国家“863”高技术研究发展计划资助项目(2014AA09A513); 国家自然科学基金资助项目（51521064）.
通讯作者: 杨灿军，男，教授，博导. ORCID: 0000-0002-3712-0538.     E-mail: ycj@zju.edu.cn
作者简介: 朱雨时（1989-），男，博士生，从事深海机电系统集成研究. ORCID: 0000-0002-8626-9187. E-mail: zhuyushi@zju.edu.cn
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引用本文:

朱雨时,杨灿军,吴世军,徐晓乐,周璞哲,单鑫. 水柱测量中的水下滑翔机转向性能[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2016.09.01.

ZHU Yu shi, YANG Can jun, WU Shi jun, XU Xiao le, ZHOU Pu zhe, SHAN Xin. Steering performance of underwater glider in water column monitoring. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2016.09.01.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2016.09.01    或    http://www.zjujournals.com/eng/CN/Y2016/V50/I9/1637

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