Analysis of Buoyancy Variation in Navigation of Underwater Glider
In this paper,the relationship between the minimum buoyancy adjustment required for underwater glider to dive to a certain depth and the buoyancy change caused by seawater density and self-deformation is deduced;the force analysis of the diving process is carried out,and the relationship between the gliding speed and the net buoyancy is derived.Through the sea trial data,the buoyancy change of the HUST-1 underwater glider when it dived to 1 000 m was obtained,and the deformation of the pressure shell was calculated.Considering the seawater pressure,the compressive deformation at 1 000 m is obtained with Workbench simulation,which is 31.7％different from the sea test result.Considering the seawater temperature simulation,the change in temperature difference is obtained.It is inaccurate to consider the influence of the pressure on the pressure shell,and the influence of the temperature must also be considered,which also shows that it is feasible to calculate the deformation of the underwater glider with the numerical simulation.Based on this numerical simulation method,in the depth of 0～1 200 m,considering the density,pressure and temperature of seawater,the change in buoyancy in the divingof HUST-2 underwater glider is analyzed,and the minimum buoyancy adjustment required for diving to 0～200 m changes.It is very large,more than 500 mL,and within 200～1 200 m,the minimum required buoyancy adjustment amount changes slowly,only about 85 mL.Afterwards,when the HUST-2 underwater glider conducts sea trials for different diving depths,the minimum buoyancy adjustment calculated in this paper can save testing time and cost.
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