一种小型水下滑翔机的设计和运动模拟

描述了一种小型水下滑翔机的设计和原理样机制造。与一般水下滑翔机不同的是，设计中将用于改变净浮力的水囊放置在该水下滑翔机的艏部。这样的设计能够为水下滑翔机滑翔姿态改变时提供正向力矩，减小系统调节时间。最后，建立原理样机的动力学方程并仿真模拟原理样机的下潜滑翔运动。仿真结果显示，水囊的布置确实能够减少水下滑翔机在姿态改变时的调节时间。

Design and Motion Simulation of an Underwater Glider

This paper describes the design of a small-scale underwater glider and the construction of the prototype. Different from the ordinary gliders, the water bladder that is applied to produce the driving forces is mounted on the nose within the vehicle, which would provide positive moment for the vehicle's pitch motion to reduce system's regulation time. Finally, the dynamic equations are established and the downward gliding motion is simulated of the prototype. The results of simulation verify that the bladder setting has truly reduced the glider system's regulation time.