水下滑翔机的机翼位置与螺旋运动关系分析

建立水下滑翔机稳态螺旋运动的数学模型，采用数值方法求解该模型，得出对应5个机翼位置的滑翔机螺旋运动特性.结果表明，水下滑翔机螺旋运动的形式随着机翼位置的变化而变化.存在一个过渡性区域（"分水岭"区域），当机翼位于这个区域前面时，水下滑翔机转向方向与机翼升力侧向分量方向一致，滑翔机按照正螺旋方式转向；当机翼位于这个区域后面时，水下滑翔机转向方向与机翼升力侧向分量方向相反，滑翔机按照反螺旋方式转向；当机翼位于这个区域内时，滑翔机的转弯方向具有不确定性，并与重心位置有关.无论滑翔机按照何种方式转弯，机翼离这个区域越远，转弯的速率就越高.湖中实验结果表明：机翼位置可以影响螺旋运动的转弯方向，且稳态试验数据与数值理论结果的误差≤ 15%.
Abstract: A mathematical model was constructed to describe the helical motion of underwater glider at steady state. Using the numerical method, the helical motion features of underwater glider were achieved corresponding to five wing locations. Numerical results indicate that the helical motion pattern of underwater glider changes with the wing location. And there is a transitional zone ("watershed" zone) determining the turning direction of underwater glider at steady state. The gliders with wing locations ahead of the zone turn in the same direction of lateral component of lift produced by wing and work in positive helical pattern. However, the gliders with wing locations behind the zone turn in the reverse direction of lateral component of lift produced by wing and work in anti-helical pattern. The glider with wing location within the zone can turn in any of the two directions dependent on its CG (centre of gravity) location. Furthermore, the gliders with wing locations far away from the zone turn faster than those with wing locations near it. The in-lake experiments indicate that wing location can affect the turning direction of helical motion and the percentage error between numerical results and experiment data at steady stage is less than 15%.