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The approach of improving the roll control of a slocum autonomous underwater glider

机译：提高slocum自主水下滑翔机侧倾控制的方法

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摘要

Currently, Slocum Autonomous Underwater Gliders (AUGs) are widely used in oceanographic research. However, compared to the other legacy AUGs, Spray gliders and Seagliders, the roll controllability is insufficient on the Slocum gliders. This thesis discusses two different approaches of improving the roll controllability on a Slocum underwater glider. With improved roll motion, the Slocum glider has the potential to be involved in iceberg management along the Newfoundland and Labrador coast, and to fulfill the mission of iceberg surveillance and data reporting; for example, iceberg draft measurement and profiling. The operation of a Slocum glider will be safer and less expensive than the current ship based method. A simplified dynamic model of an underwater glider is derived and evaluated by comparing the simulation result with the field trial data collected in Conception Bay, Newfoundland and Labrador, Canada, 2010. The presented dynamic model can be easily modified to represent various realistic Slocum glider internal mass arrangements or even other types of Autonomous Underwater Vehicles (AUVs). In addition to the existing internal structure of a Slocum glider, a movable mass, the position of which is variable in the wingspan direction, is introduced to investigate the 6 degree of freedom (DOF) performance of a Slocum glider, especially the roll and yaw motions. Two roll control mechanisms are introduced in this thesis. Based on the field data, a small roll angle (2° to 5ﾟ)exists in the mission due to a small error of separation between the center of buoyancy and the center of gravity in the roll trimming or other environmental effects. An Autonomous Roll Trimming Mechanism (ARTM) evolving from the wingspan movable mass is designed to simplify the roll trimming process and to eliminate the dynamic roll angle error during the flight. In the design of the Deflectable Wingtip Mechanism(DWM), the standard flat-plate wing sets are replaced by NACA00l2 airfoil sections and deflectable wingtips. A miniature geared stepper motor is integrated into the wing to control the wingtip deflection angle. The mechanism rolls the gliderudby reversing the lift forces on the wingtips which create a rolling moment and roll the Slocum glider with an angle up to 45°. Simulated with the previously introduced andudevaluated dynamic model, the Slocum glider flies in a spiral motion with a fixed roll angle with a deflection on the wingtip. In order to control the spiral motion properly, the spiral parameters, such as turning radius and roll angle, are further examined. We illustrated the relationship between the angle of attack of the wingtip and the spiral motion performance. -- Beyond the mathematical analysis of the DWM, a hydrodynamic test is applied on the DWM. A hydrodynamic testing platform is designed, on which the angle of attack of the DWM, the sweep angle, and the wingtip deflection angle are variable. The experiments are conducted in the Open water flume tank located at the Engineering Department of Memorial University of Newfoundland. The forces and torques are collected using a 3-axis JR3 load cell. As a result, the hydrodynamic characteristicsudof the DWM with different experimental settups are Obtained and compared.
机译：当前，Slocum自主水下滑翔机（AUGs）被广泛用于海洋研究。但是，与其他传统的AUG，喷雾滑翔机和海滑翔机相比，Slocum滑翔机的侧倾控制能力不足。本文讨论了两种改进Slocum水下滑翔机侧倾可控性的方法。通过改善滚动运动，Slocum滑翔机有可能参与纽芬兰和拉布拉多沿岸的冰山管理，并完成冰山监视和数据报告的任务；例如，冰山吃水测量和分析。 Slocum滑翔机的操作将比当前基于船的方法更安全，更便宜。通过将仿真结果与在加拿大纽芬兰和拉布拉多的Conception Bay收集的现场试验数据进行比较，得出并评估了水下滑翔机的简化动力学模型，该动力学模型可以轻松修改以表示各种现实的Slocum滑翔机内部，并将其与2010年进行比较。大规模安排，甚至其他类型的自主水下航行器（AUV）。除了现有的Slocum滑翔机内部结构外，还引入了可移动质量，其位置在翼展方向上是可变的，以研究Slocum滑翔机的6自由度（DOF）性能，特别是滚动和偏航动作。本文介绍了两种侧倾控制机构。根据现场数据，由于在横滚修剪或其他环境影响中浮力中心与重心之间的分隔误差较小，因此在任务中存在较小的横滚角（2°至5°）。从翼展可动质量演变而来的自主侧倾微调机构（ARTM）旨在简化侧倾微调过程并消除飞行过程中的动态侧倾角误差。在可偏转翼尖机构（DWM）的设计中，标准平板机翼套件被NACA00l2翼型截面和可偏转翼尖所取代。机翼中集成了微型齿轮步进电机，以控制机翼的偏转角。该机构通过反转翼尖上的升力来滚动滑翔伞，从而产生滚动力矩，并以最大45°的角度滚动Slocum滑翔伞。 Slocum滑翔机通过先前介绍的和/或经过评估的动态模型进行模拟，以固定的侧倾角螺旋运动，并在翼尖上偏转。为了适当地控制螺旋运动，进一步检查了螺旋参数，例如转弯半径和侧倾角。我们说明了翼尖的迎角与螺旋运动性能之间的关系。 -除了对DWM进行数学分析外，还对DWM进行了水动力测试。设计了一种水动力测试平台，在该平台上，DWM的迎角，后掠角和翼尖偏转角均可变。实验是在纽芬兰纪念大学工程系的开放水槽中进行的。使用3轴JR3称重传感器收集力和扭矩。结果，获得并比较了具有不同实验装置的DWM的水动力特性。

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    Zhou Mingxi;

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