As a new type of underwater observation platform, underwater glider is widely used in marine explorations and military surveys, and most gliders are powered by their own batteries whose capacities are limited. It is therefore necessary to analyze the energy consumption of underwater glider. In this article, the variation law of seawater density changing with depth is considered; based on the theory of rigid body dynamics, the motion model of blended-wing-body underwater glider is established; the energy consumption model of each component module is accounted by analyzing the energy consumption composition in the working process of blended-wing-body underwater glider; and the energy consumption under different navigation depths, different glide ratios, and different buoyancy adjustments regulation is simulated. The results demonstrate that as the glide depth is increased, the total energy consumption increases in a single cycle and decreases per gliding distance, leading to a smaller energy consumption ratio for the attitude adjustment module; on the other hand, as the buoyancy adjustment is increased, more energy is consumed in a single cycle and less energy is consumed per gliding distanced, resulting in a larger energy consumption ratio for the attitude adjustment module. As the glide ratio increases, the total energy consumption in a single cycle first increases and then decreases, while the energy consumption of per gliding distance and the energy consumption ratio of the attitude adjustment module are decreased.

中文翻译：

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翼身混合型水下滑翔机能耗分析

水下滑翔机作为一种新型的水下观测平台，广泛应用于海洋探险和军事勘测，大多数滑翔机采用自带电池供电，容量有限。因此有必要对水下滑翔机的能耗进行分析。本文考虑了海水密度随深度变化的变化规律；基于刚体动力学理论，建立了翼身混合水下滑翔机的运动模型；通过分析翼身混合式水下滑翔机工作过程中的能耗构成，得出各部件模块的能耗模型；并模拟了不同航行深度、不同滑翔比、不同浮力调节调节下的能耗。结果表明，随着滑翔深度的增加，单周期总能耗增加，每滑翔距离的总能耗降低，导致姿态调节模块的能耗比变小；另一方面，随着浮力调节的增加，单次循环消耗的能量更多，每滑翔距离消耗的能量更少，导致姿态调节模块的能耗比例更大。随着滑翔比的增加，单次循环的总能耗先增加后降低，而单位滑翔距离的能耗和姿态调节模块的能耗比降低。导致姿态调节模块的能耗比更小；另一方面，随着浮力调节的增加，单次循环消耗的能量更多，每滑翔距离消耗的能量更少，导致姿态调节模块的能耗比例更大。随着滑翔比的增加，单次循环的总能耗先增加后降低，而单位滑翔距离的能耗和姿态调节模块的能耗比降低。导致姿态调节模块的能耗比更小；另一方面，随着浮力调节的增加，单次循环消耗的能量更多，每滑翔距离消耗的能量更少，导致姿态调节模块的能耗比例更大。随着滑翔比的增加，单次循环的总能耗先增加后降低，而单位滑翔距离的能耗和姿态调节模块的能耗比降低。导致姿态调节模块的能耗比较大。随着滑翔比的增加，单次循环的总能耗先增加后降低，而单位滑翔距离的能耗和姿态调节模块的能耗比降低。导致姿态调节模块的能耗比较大。随着滑翔比的增加，单次循环的总能耗先增加后降低，而单位滑翔距离的能耗和姿态调节模块的能耗比降低。