مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

مطالعه پارامتریک گلایدر زیرسطحی با رویکرد عملکرد هیدرودینامیکی

نوع مقاله : پژوهشی اصیل

نویسندگان
1 دانشجو دوره ی دکتری دانشگاه صنعتی شریف
2 استاد تمام دانشگاه صنعتی شریف
چکیده
امروزه استفاده از ربات­های زیرسطحی برای تجسس و بررسی شرایط زیر سطح آب­ رشد بسزایی داشته است. گلایدرهای زیرسطحی بدلیل مصرف پایین انرژی جز ربات­های مورد علاقه محققین برای عملیات های طولانی مدت می­باشد. شناخت دقیق پارامترهای ابعادی برای بررسی عملکرد گلایدرهای زیرسطحی امری حیاتی بوده که در صورت عدم بررسی دقیق متناسب سبب پایین آمدن راندمان وسیله میگردد. در این پژوهش سعی شده است تا در ابتدا مدل دینامیکی غیرخطی از ربات­های گلایدرزیرسطحی استخراج گردد. مدل دینامیکی با نتایج پژوهش­های مرتبط راستی آزمایی شده است. پس از بررسی صحت مدل دینامیکی استخراج شده به بررسی پارامتریک ابعادی در زمینه عملکرد هیدرودینامیکی ربات پرداخته شده است. پارامترهایی همچون حجم مخزن بویانسی، زاویه پیچ و ابعاد بالک در عملکرد هیدرودینامیکی ربات مورد سنجش قرار گرفته است. در مطالعه هر پارامتر مابقی پارامترها ثابت در نظر گرفته شده است تا بتوان تاثیر پارامتر هدف مورد سنجش قرار گیرد. نتایج بدست آمده حاکی از آن است که پارامترهای هندسی و ابعادی تاثیر بسزایی در راندمان و عملکرد هیدرودینامیکی ربات دارند. با طراحی متناسب گلایدر میتوان سبب انعطاف پذیری بیشتر در مواجه با اغتشاشات خارجی شد و در مواقعی که راندمان خیلی مطرح نیست، به سرعت های بالاتری دست یافت.
کلیدواژه‌ها

موضوعات


عنوان مقاله English

Parametric study of underwater glider using hydrodynamic performance approach

نویسندگان English

Ali hasanvand 1
Mohammad saeid Seif 2
1 PhD candidate of sharif university of technology
2 professor at sharif university of technology
چکیده English

Today, the use of underwater robots to explorer underwater conditions has significant grown. Underwater gliders (UG) are robot of the favorite of researchers for long-time operations due to their low energy consumption. Exact the identification of dimensional parameters is critical to evaluate the hydrodynamic performance of underwater gliders, which properly can rising the efficiency of robots. In this research, an attempt has been made to first extract a nonlinear dynamic model from UG. The dynamic model has been verified with the results of related other research. After checking the accuracy of the model, dimensional parametric investigation in robot hydrodynamic performance has been performed. Parameters such as buoyancy tank volume, Pitch angle and wing geometry have been target this research. In the study of each parameter, other parameters are considered constant so that the effect of target parameter can be measured. The results indicate that parameters have a significant impact on efficiency and hydrodynamic performance of the robot. Properly designed glider can be more flexible in the face of external disturbances, and causes higher speeds can be achieved when efficiency is not very important.

کلیدواژه‌ها English

Underwater Glider
Pitch
Buoyancy tank
Wing
Nonlinear Dynamics modeling
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