飞翼式混合驱动水下滑翔机水动力与运动特性研究

为了提高水下滑翔机的水动力性能和滑翔经济性，提出一种新型飞翼式混合驱动水下滑翔机。为了研究飞翼式混合驱动水下滑翔机的水动力和运动特性，基于计算流体力学Openfoam软件，采用剪切应力传递湍流模型对其在航速为0.5~3.0 m/s和攻角、漂角均为0°~21°工况下流动特性进行分析，并将分析结果与实验结果进行对比；对于运动特性，则基于多体动力学理论，并考虑姿态调节过程中参数变化影响，建立飞翼式混合驱动水下滑翔机运动仿真模型，分别对其推进和滑翔两种典型运动状态进行仿真和外场实验。研究结果表明：仿真结果与外场实验结果具有良好的一致性，验证了仿真方法的准确性，且与传统混合驱动水下滑翔机相比，飞翼式混合驱动水下滑翔机阻力系数随攻角变化速率较大，但随漂角变化速率较小，并具有更优的滑翔经济性和综合水动力性能。

Hydrodynamic Properties and Motion Analysis of Hybrid-driven Underwater Glider with Flying Wings

A new hybrid-driven underwater glider with flying wings is designed to improve the comprehensive properties of underwater glider. The shear stress transmission （SST） turbulence model based on Openfoam software is used to investigate the hydrodynamic characteristics of underwater glider at the velocities ranging from 0.5 m/s to 3.0 m/s, and the angle of attack or drift angle ranging from 0° to 21°. And the numerical results are validated by comparing with the experimental data. In addition, the dyna-mics and kinematics models based on the multi-body dynamics are presented to simulate the motion characteristics, with considering the various velocities of moving sliders and the pump system quality. The numerical results are validated by comparing with the experimental data. The results indicate that the numerical results are in well agreement with the experimental data, which verifies the accuracy of the proposed numerical method. Compared with the traditional hybrid-driven underwater glider, the hybrid-driven underwater glider with flying wings has more excellent hydrodynamic performance and gliding economy, its drag coefficient increases faster with the increase in angle of attack, and increases slower with the increase in drift angle.