波浪滑翔器动力学建模及其仿真研究

发布时间：2018-01-28 22:24

本文关键词： 波浪滑翔器多体动力学 ADAMS-MATLAB 柔性缆索波浪能　出处：《中国舰船研究院》2014年硕士论文　论文类型：学位论文

【摘要】：波浪滑翔器是一种新型的无人自主海洋观测装备，由水面浮体、水下滑翔体和柔性体缆索三部分组成。它的运动机理是将波浪在表层和深层水质点振幅差引起的波浪能差直接转换为波浪滑翔器的前进动能。属利用海洋能的创新型设备，在民用和军事两方面都有着非常重要的研究意义和使用价值。波浪滑翔器是一个微动力系统，本文基于Airy微振幅波理论，以合理、高效利用波浪能为目标，结合应用海域的典型波浪波长，通过对波浪滑翔器的推进动力量化分析，初步选取了波浪滑翔器的总体外形参数。本文给出了水面浮体和水下滑翔体的流体线型设计，通过流体动力分析，研究了水面浮体的动稳性，以及翼板翼型和翼板对数对水下滑翔体流体特性的影响，验证了波浪滑翔器结构设计符合低阻高稳定的要求。为预测波浪滑翔器的运动性能，本文通过ADAMS和MATLAB模型相结合的方法实现了其建模和运动仿真分析。波浪滑翔器不同于常规水面船只或水下航行器，它可视为一个由水面船只和水下滑翔机组成的一个相互关联的多体结构，因此，其建模和分析过程要比常规水面船只或水下航行器更为复杂。通过对波浪滑翔器水面浮体、水下滑翔体和连接缆索分别建立数学模型，在明确输入和边界条件的基础上，借助多体动力学分析软件ADAMS和数学计算工具MATLAB进行联合分析求解，，建立波浪滑翔器的整体模型基于波浪滑翔器联合仿真模型，对波浪滑翔器的缆索长度和翼板对数进行了计算分析和择优选取；最后研究了波浪滑翔器在一级低海况下的运动可行性，常规三级海况下的航行性能及极端九级海况下的生存能力。分析结果表明，波浪滑翔器的总体设计是可行的，研究成果也对波浪滑翔器的工程设计具有重要的指导作用。
[Abstract]:Wave glider is a new kind of unmanned marine observation equipment , which is composed of three parts of water surface floating body , underwater glider body and flexible body cable . Its movement mechanism is to convert the wave energy difference caused by the difference of amplitude difference between surface layer and deep water quality point directly into the forward kinetic energy of wave glider . Wave glider is a micro - dynamic system . Based on the theory of Airy micro - amplitude wave , the general outline parameters of the wave glider are preliminarily selected based on the theory of Airy micro - amplitude wave . Based on the analysis of the hydrodynamic characteristics of the wave glider , the dynamic stability of the water surface floating body and the logarithm of the wing plate on the fluid characteristics of the underwater glider body are studied . The requirements of the design of the wave glider are verified to meet the requirements of low resistance and high stability . In order to predict the motion performance of the wave glider , the modeling and motion simulation analysis is realized by the combination of ADAMS and MATLAB . The wave glider is different from the conventional water surface ship or underwater vehicle . Based on the joint simulation model of the wave glider , the cable length and the logarithm of the wing plate of the wave glider are calculated and analyzed . Finally , the feasibility of the motion of the wave glider in the first - order low - sea state , the navigation performance under the conventional three - stage sea condition and the survivability under the extreme ninth - order sea condition are studied . The results show that the overall design of the wave glider is feasible , and the research results also play an important role in the engineering design of the wave glider .

【学位授予单位】：中国舰船研究院
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U661

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