滑翔圆碟水下悬停和海底停驻的水动力与控制性能研究

In the development of underwater wireless sensor networks Technology, there are some bottleneck problems, such as network deployment, energy supplement and formation keeping, at the present stage. In this project, a new method is proposed that gliding discuses were used as carriers of sensors. And a new model of the underwater wireless sensor was constructed. The hydrodynamic andcontrol performance of hovering in the designated body of water and parking on the seabed is important for the gliding discus to become carriers of sensors in nodes of underwater wireless sensor networks. As main research contents,maneuver trajectory optimization in designated body of water and landing strategy ,stability,anti buried measure,floating ability etc. of the gliding discus are studied in this paper. By means of improving the dynamic model of the gliding discus, numerical simulation, and self-propelled model test etc., the problems that near-wall effect of the large wing surface structure analysis and controlling technologies and maneuver trajectory optimization in designated body of water for the purpose of reducing energy consumption.The foundation application of glding discus in the field of Fixed-point monitoring is laid from the theory and method. From two aspects of Small-area high mobility movement analysis and sit bottom properties, the theoretical system of underwater gliders is improved. Full demonstration are carried out for the key technologies of the underwater wireless sensor networks based on gliding discus and the technology system of the underwater wireless sensor networks is improved. The technologies of the underwater wireless sensor networks based on gliding discus is important for constructing marine monitoring network and improving the coastal defense technology.

目前水下传感器网络技术在网络部署、能源补充、阵型保持等方面存在的发展瓶颈问题，本项目提出采用滑翔圆碟作为网络节点的搭载平台，构建崭新的水下无线传感器网络模型，并针对滑翔圆碟形式的网络节点载体在指定区域内的水下悬停和海底停驻水动力及控制性能开展研究工作。通过完善滑翔圆碟动力模型、数值仿真以及自航模型试验等手段，开展滑翔圆碟指定区域机动轨迹优化，海底停驻的着陆策略、稳定性、防掩埋、上浮能力等方面所涉及的水动力及控制性能的研究工作，重点解决了大翼面结构近壁面效应分析与控制技术、以降低能耗为目的的指定三维水域机动轨迹优化等技术难题，从理论和方法上奠定滑翔圆碟在水下定点监测领域应用的基础。从小区域高机动性运动分析和坐底性能研究两个方面完善了水下滑翔器研究的理论体系，同时充实了水下无线传感器网络技术，对建设我国海洋监测网，提高海防技术水平具有重要意义。

目前水下传感器网络技术在网络部署、能源补充、阵型保持等方面存在的发展瓶颈问题，本项目提出采用滑翔圆碟作为网络节点的搭载平台，构建崭新的水下无线传感器网络模型，并针对滑翔圆碟形式的网络节点载体在指定区域内的水下悬停和海底停驻水动力及控制性能开展研究工作。本项目通过完善滑翔圆碟动力模型、数值仿真以及自航模型试验等手段，开展滑翔圆碟指定区域机动轨迹优化，海底停驻的着陆策略、稳定性、防掩埋、上浮能力等方面所涉及的水动力及控制性能的研究工作，重点解决了大翼面结构近壁面效应分析与控制技术、以降低能耗为目的的指定三维水域机动轨迹优化等技术难题，从理论和方法上奠定滑翔圆碟在水下定点监测领域应用的基础。从小区域高机动性运动分析和坐底性能研究两个方面完善了水下滑翔器研究的理论体系，研究表明滑翔圆碟具有更大的升阻比、更小的空间螺旋运动半径、良好的定深控制与海底停驻性能；滑翔圆碟实现坐底运动时，海底中水流泥沙混合物会影响机体的工作效率，本项目分析了几种不同海流工况、不同坐底姿态和不同外形滑翔圆碟时泥沙混合流对机体周围流场的影响；通过给定一种体积分数比较大的来流泥沙，来输出滑翔圆碟附近流场泥沙含量随时间的变化，并锁定滑翔圆碟周围泥沙含量基本达到动态平衡所经历的时间历程；在数值模拟的基础上为滑翔愿圆碟坐底性能的研究提供相关的预报数据；本项目所做的研究充实了水下无线传感器网络技术，对建设我国海洋监测网，提高海防技术水平具有重要意义。依托本项目的研究基础，团队提出的“圆碟形水下滑翔机关键技术与装备研发”项目在2016年获得国家重点研发计划“深海关键技术与装备”重点专项的立项，进而将圆碟形水下滑翔机的研究提升到国家战略层面。