【摘要】：混合驅(qū)動(dòng)水下滑翔機(jī)集成了浮力滑翔運(yùn)動(dòng)和螺旋槳推進(jìn)運(yùn)動(dòng)兩者的優(yōu)點(diǎn),是一種新型的水下自航行器。作為一種自主水下觀測(cè)平臺(tái),其在軍民兩個(gè)領(lǐng)域都有著巨大的應(yīng)用前景�；旌向�(qū)動(dòng)水下滑翔機(jī)有三種工作模式:浮力滑翔工作模式,用于需要長(zhǎng)航程高隱蔽性的工作情況;動(dòng)力滑翔工作模式,用于快速機(jī)動(dòng)、有高精度航跡要求的工作情況;定深航行模式,用于對(duì)特定深度水層進(jìn)行參數(shù)獲取的工作情況。本文以課題組前期研究成果為基礎(chǔ),結(jié)合單純的浮力驅(qū)動(dòng)水下滑翔機(jī),設(shè)計(jì)開(kāi)發(fā)了小型深海推進(jìn)系統(tǒng),完成混合驅(qū)動(dòng)水下滑翔機(jī)PETREL?Ⅱ樣機(jī)研發(fā)。建立了混合驅(qū)動(dòng)水下滑翔機(jī)縱垂面動(dòng)力學(xué)模型,并針對(duì)螺旋槳設(shè)計(jì)參數(shù)與滑翔機(jī)運(yùn)動(dòng)性能的相互關(guān)系進(jìn)行分析。最后對(duì)混合驅(qū)動(dòng)水下滑翔機(jī)整機(jī)進(jìn)行了湖域及海域試驗(yàn),驗(yàn)證了推進(jìn)系統(tǒng)設(shè)計(jì)的正確性和功能有效性。本文的主要研究成果為:設(shè)計(jì)了混合驅(qū)動(dòng)水下滑翔機(jī)推進(jìn)系統(tǒng)。重點(diǎn)針對(duì)螺旋槳推進(jìn)器開(kāi)展詳細(xì)設(shè)計(jì),推進(jìn)器工作時(shí),配合浮力系統(tǒng)、姿態(tài)調(diào)節(jié)系統(tǒng),可以實(shí)現(xiàn)混合驅(qū)動(dòng)水下滑翔機(jī)的浮力滑翔、動(dòng)力滑翔工作模式和定深航行工作模式。建立了混合驅(qū)動(dòng)水下滑翔機(jī)阻力方程。通過(guò)B3?35槳型圖譜分析,建立相應(yīng)的推力、轉(zhuǎn)矩系數(shù)方程,進(jìn)一步推導(dǎo)出B3?35槳型推力、轉(zhuǎn)矩方程,并針對(duì)混合驅(qū)動(dòng)水下滑翔機(jī)運(yùn)動(dòng)性能指標(biāo),以滿足推力與轉(zhuǎn)矩要求為目標(biāo),獲取了PETREL?Ⅱ滑翔機(jī)的最優(yōu)螺旋槳直徑及轉(zhuǎn)速參數(shù)范圍。建立了混合驅(qū)動(dòng)水下滑翔機(jī)縱垂面動(dòng)力學(xué)模型。模型同時(shí)考慮了姿態(tài)調(diào)節(jié)電池包平移量、浮力調(diào)節(jié)量以及推進(jìn)系統(tǒng)推力、轉(zhuǎn)矩的共同作用,能夠較為準(zhǔn)確的反映混合驅(qū)動(dòng)水下滑翔機(jī)縱垂面的運(yùn)動(dòng)性能。文章建立了動(dòng)力學(xué)模型并進(jìn)行數(shù)值仿真,通過(guò)實(shí)際水域試驗(yàn),驗(yàn)證了模型的正確性,并對(duì)其它類型的混合驅(qū)動(dòng)水下滑翔機(jī)設(shè)計(jì)具有參考意義。
[Abstract]:Hybrid driving underwater glider is a new type of underwater self-propelled vehicle which integrates the advantages of buoyancy gliding and propeller propulsion. As an autonomous underwater observation platform, it has great application prospect in both military and civilian fields. There are three working modes of hybrid driving underwater glider: buoyancy gliding working mode, power gliding working mode for fast maneuvering and high precision track requirement, power gliding working mode for long voyage and high concealment. Fixed deep navigation mode, used to obtain the parameters of the specific depth of the operation of the water layer. Based on the previous research results of the research group and the simple buoyancy driven underwater glider, a small deep-sea propulsion system is designed and developed in this paper, and the prototype of the hybrid drive underwater glider PETREL- 鈪，

本文編號(hào)：2132171