基于温差能源的水下滑翔器动力学分析与设计

水下滑翔器作为一种新型水下机器人系统，对于海洋环境监测与资源探测具有重要应用价值．与采用电能驱动方式不同，设计开发了一种海洋环境能源（温差能源）驱动的水下滑翔器，并应用Gibbs—Appell方程建立了动力学模型，仿真分析了水下滑翔器的垂直剖面运动特性，获得了相应的运动参数．依据动力学仿真结果，设计了基于温差能源的热机系统，以及姿态调整机构与控制系统．水域实验结果表明，水下滑翔器采用温差能源驱动，其原理是可行的，所设计的热机系统热交换功率达到47W，可以满足水下滑翔器驱动性能要求．

Dynamic Analysis and System Design on an Underwater Glider Propelled by Temperature Difference Energy

As a new kind of autonomous underwater vehicle(AUV),an underwater glider has valuable applications in oceanographic survey or in ocean exploration.Different from underwater gliders propelled by electrical energy,an underwater glider propelled by ocean environmental energy(temperature difference energy) was developed in the paper.Dynamic model of the underwater glider was!established using Gibbs-Appell equations.Trajectory simulation was carried out to obtain the kinematic parameters in the vertical plane.Based on dynamic behavior of the underwater glider,mechanical structure,attitude mechanism,thermal engine and control devices were designed.Experimental results of lake trials show the principle feasibility of the underwater glider propelled by temperature difference energy.The power of thermal engine designed is 47 W.The thermal engine can be used for underwater gliders.