混合驱动水下滑翔机水动力参数辨识

牛文栋; 王延辉; 杨艳鹏; 朱亚强; 王树新

doi:10.6052/0459-1879-16-162

混合驱动水下滑翔机水动力参数辨识

天津大学, 天津 300354

基金项目: 国家自然科学基金资助项目(51105268，51475319).

详细信息

通讯作者:
王树新,教授,主要研究方向:机器人系统动力学与控制.E-mail:shuxinw@tju.edu.cn

中图分类号: N945
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- 文章访问数: 1386
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出版历程
- 收稿日期: 2016-06-05
- 修回日期: 2016-06-12
- 刊出日期: 2016-07-17

HYDRODYNAMIC PARAMETER IDENTIFICATION OF HYBRID-DRIVEN UNDERWATER GLIDER

Tianjin University, Tianjin 300354, China

摘要

摘要: 与传统水下滑翔机相比，混合驱动水下滑翔机可以分别利用头部的浮力驱动单元和机身尾部的螺旋桨推进单元进行驱动从而实现不同形式的运动，具备低功耗、长航程、良好机动性等特点，具有广泛的应用前景. 准确的动力学模型以及精确的水动力参数是实现混合驱动水下滑翔机控制系统设计以及精确导航的基础. 在混合驱动水下滑翔机动力学模型已知的前提下获得准确的水动力参数是本文主要研究的问题. 本文以天津大学研制的混合驱动水下滑翔机“海燕” 作为研究对象，提出一种在有限航行参数条件下，基于大数据统计分析的计算流体力学(computational fluid dynamics, CFD) 和参数辨识相结合来获取混合驱动水下滑翔机的水动力参数的方法. 即首先建立滑翔机的动力学模型，推导出稳态数据与所求水动力参数的关系；然后采用CFD 的方法得到其升力系数，根据大量稳态纯滑翔实验数据，结合大数据统计分析，辨识出其剩余水动力参数；最后，根据混合驱动模式下的实验数据辨识出与螺旋桨相关的参数，从而得到其整套的水动力参数. 该方法不仅结合了CFD 方法具有获取复杂外形结构航行水动力的特点，而且可以有效利用大量现场实验数据，因而能够更加准确地辨识其实际运动. 通过运动仿真与试验对比，验证了该辨识方法的正确性和有效性，对滑翔机的研究具有指导意义.
- 混合驱动水下滑翔机 /
- CFD /
- 参数辨识 /
- 运动仿真 /
- 海试试验
Abstract: Compared with traditional autonomous underwater gliders (AUGs), hybrid-driven underwater gliders (HUGs) can achieve different motion modes by buoyancy driven system and propeller driven system, which are characterized by low power consumption, long endurance and high manoeuvrability, thus being widely used in various oceanographic monitoring missions. An accurate dynamics model with a series of exact enough hydrodynamic parameters is the basis of control system as well as navigation. The main issue of this paper is how to get the accurate hydrodynamic parameters based on the known dynamic model of HUG. In this paper, an HUG named as Petrel which is developed by Tianjin University is selected as the research object. A new method based on large data statistical analysis which combines computational fluid dynamics (CFD) and parameter identification is proposed for hydrodynamic parameter identification. Firstly, dynamic model of Petrel with hydrodynamic model is established. Secondly, lift coefficient is solved by CFD method. Then, other hydrodynamic parameters in the buoyancy driven gliding mode are calculated by large data statistical analysis using a large amount of experimental data. Finally a set of hydrodynamic parameters including the propeller thrust coefficient is obtained. The simulation results show a good agreement with the experimental results, thus verifying validity and availability of this method. And this work paves the way for further design.
- hybrid-driven underwater gliders /
- CFD /
- parameter identification /
- motion simulation /
- sea trial

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