水下滑翔机的滑翔运动受多因素影响，轨迹多呈“之”字形。为探究重浮力差和重浮心距离对其滑翔运动及经济性的影响，采用滑移网格、动网格技术与6自由度（6DOF）方法开展非稳态数值仿真，定义“水平速度/垂直速度”为经济性核心指标（表征单位垂直位移的水平推进效率）。船池拖曳试验验证表明，速度≤6 m/s时阻力误差最大6.41%，满足工程精度。研究显示，重浮力差增大使攻角单调增大，重心前移则使其单调减小；重心前移0.2%L（总长）时，重浮力差超1.2%G（总重力）会导致攻角从7.095°跃增至23.188°，经济性显著恶化。通过力矩平衡揭示大攻角力矩失衡机理，确定最佳下潜工况为1.2%G重浮力差、0.2%L重心前移，此时经济性达2.49（最优）。研究为水下滑翔机运动预报与设计优化提供理论依据。
The gliding motion of underwater gliders is affected by the coupling of multiple factors, and their trajectories are mostly "Z-shaped". To reveal the influence mechanism of buoyancy-weight difference and the distance between the center of gravity (CG) and center of buoyancy (CB) along the fuselage axis on their gliding motion and economy, unsteady numerical simulations were conducted using sliding mesh technology, dynamic mesh technology, and the 6-degree-of-freedom (6DOF) method. The "ratio of horizontal velocity to vertical velocity" was defined as the core index of gliding economy, characterizing the horizontal propulsion efficiency per unit vertical displacement. Towing tank tests verified the validity of the simulation model, with a maximum resistance error of 6.41% when the velocity is ≤ 6 m/s, which meets the requirements of engineering accuracy. The results show that an increase in the buoyancy-weight difference leads to a monotonic increase in the angle of attack, while the forward shift of the CG results in a monotonic decrease in the angle of attack. When the CG is moved forward by 0.2%L (total length of the glider), the angle of attack jumps from 7.095° to 23.188° when the buoyancy-weight difference exceeds 1.2%G (total gravity of the glider), leading to a significant deterioration in gliding economy. The mechanism of pitching torque imbalance causing large angles of attack was revealed through torque balance analysis. Based on refined working condition simulations, the optimal diving condition was determined as a buoyancy-weight difference of 1.2%G and a CG forward shift of 0.2%L, at which the gliding economy reaches 2.49 (the optimal value). The research results provide a reliable theoretical basis for the motion prediction, parameter design, and performance optimization of underwater gliders.
2026,48(6): 66-73 收稿日期：2025-9-11
DOI：10.3404/j.issn.1672-7649.2026.06.010
分类号：U674.941
作者简介：冯战豪(2001-),男,硕士,研究方向为水下航行器结构设计及流体分析
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