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翼型水下滑翔机性能数值优化与运动特性问题研究
其他题名Research on Hydrodynamic Performance Optimization and Dynamic Behaviors for Fly-Wing Structure Underwater Gliders
王振宇1,2
导师张艾群
分类号TP242.3
关键词翼型水下滑翔机 数值优化 滑翔效率 运动稳定性 运动学模型
索取号TP242.3/W39/2018
页数128页
学位专业机械电子工程
学位名称博士
2018-05-19
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门海洋机器人卓越创新中心
摘要

本文结合机器人学国家重点实验室自主课题“翼型水下滑翔机研究”的课题需求,针对翼型水下滑翔机的性能数值优化与控制问题开展研究,主要研究内容包括运动机理研究、水动力外形及襟翼特性优化研究、运动与建模问题以及航行效率研究,主要内容如下:1、运动机理研究。基于蝠鲼仿生外形建立翼型水下滑翔机模型,针对翼型水下滑翔机的运动机理进行分析,通过对比不同水动力外形布局方式,得出翼型水下滑翔机的运动特性。2、性能数值优化研究。基于改进拉丁超立方法和高斯核函数法,通过建立翼型水下滑翔机参数化外形分别对翼型水下滑翔机剖面及三维水动力外形进行优化,对各变量的相对敏感度进行分析。在此基础上基于重叠网格技术,针对翼型水下滑翔机艉缘襟翼的水动力特性开展研究,分析了襟翼高度、布置位置及摆动角度对艉缘襟翼增升效应的影响,为后续翼型水下滑翔机进一步优化设计工作提供参考。3、空间六自由度运动稳定性分析。通过拉格朗日方程建立翼型水下滑翔机空间动力学模型,在此基础上建立了翼型水下滑翔机纵向小扰动方程,并利用李雅普诺夫稳定性定理对翼型水下滑翔机的运动稳定性进行判定。分析了翼型水下滑翔机初稳心高对其运动稳定性的影响,并对受扰后的自由衰减特性进行研究。4、滑翔效率研究。从翼型水下滑翔机样机的技术参数出发,研究了样机系统的整体布局,并对各能耗单元进行详细设计。在此基础上,从能量做功角度建立了翼型水下滑翔机垂直剖面内的航行能耗模型,分析出滑翔角、滑翔速度以及滑翔深度等不同运动参数对航行效率的影响。

其他摘要

This dissertation researches on the key problems of hydrodynamic performance optimization and dynamic behaviors for fly-wing structure underwater glider in the light of the needs of the project of “Research on fly-wing structure underwater glider” of State Key Laboratory of Robotics. The main research contents include the research on the motion mechanism of the fly-wing structure underwater glider, the research on the optimization of hydrodynamic profile and flap characteristics of fly-wing structure underwater glider, the problem of fly-wing structure underwater glider movement and modeling, and the transit efficiency of fly-wing structure underwater glider. The details are summarized as follows: 1. Movement mechanism research. The model of fly-wing structure underwater glider was established based on the manta bionic appearance, and the movement mechanism of the fly-wing structure underwater glider was analyzed. By comparing the layout of different hydrodynamic shapes, the motion characteristics of the fly-wing structure underwater glider were obtained. 2. Performance numerical optimization research. Based on the improved Latin hyper spectral method and Gaussian kernel function method, the profile of the fly-wing structure underwater glider was established to optimize the profile of the airfoil glider and the three-dimensional hydrodynamic profile, and the relative sensitivity of each variable was analyzed. Based on the overlapping grid technology, the hydrodynamic performance of the flap for fly-wing structure underwater glider was studied, and the influence of the flap thickness, arrangement position, and swing angle on the lift-up effect of the flap was analyzed. 3. Analysis of Six Degrees of Freedom Movement Stability. Using the Lagrange equation, the six-degree-of-freedom dynamics model of the fly-wing structure underwater glider was deduced. Based on the dynamic model, the longitudinal small disturbance equation of the fly-wing structure underwater glider was established, the Lyapunov theorem was used to determine the movement stability of fly-wing structure underwater glider. The influence of the high initial stability of the fly-wing structure underwater glider on its motion stability is analyzed, and the free decay characteristics after the disturbance are studied. 4. Transit efficiency research. Starting from the technical parameters of the fly-wing structure underwater glider prototype, the overall layout of the prototype system was studied, various energy units were designed in detail, and then from the energy analysis perspective, the transit energy model in the vertical profile of the fly-wing structure underwater glider was established. The effects of gliding speed, gliding depth, and gliding angle on transit efficiency were analyzed.

语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/21788
专题海洋机器人卓越创新中心
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
王振宇. 翼型水下滑翔机性能数值优化与运动特性问题研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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