关键词: 水下滑翔机, 混合驱动, 水动力性能, 运动特性, 外场实验

Abstract: A new hybrid-driven underwater glider with flying wings is designed to improve the comprehensive properties of underwater glider. The shear stress transmission （SST） turbulence model based on Openfoam software is used to investigate the hydrodynamic characteristics of underwater glider at the velocities ranging from 0.5 m/s to 3.0 m/s, and the angle of attack or drift angle ranging from 0° to 21°. And the numerical results are validated by comparing with the experimental data. In addition, the dyna-mics and kinematics models based on the multi-body dynamics are presented to simulate the motion characteristics, with considering the various velocities of moving sliders and the pump system quality. The numerical results are validated by comparing with the experimental data. The results indicate that the numerical results are in well agreement with the experimental data, which verifies the accuracy of the proposed numerical method. Compared with the traditional hybrid-driven underwater glider, the hybrid-driven underwater glider with flying wings has more excellent hydrodynamic performance and gliding economy, its drag coefficient increases faster with the increase in angle of attack, and increases slower with the increase in drift angle. Key

Key words: underwaterglider, hybriddriving, hydrodynamicproperty, motioncharacteristic, fieldexperiment