Internal layout optimization of the blended-wing-body underwater glider based on a range target

The blended-wing-body underwater glider (BWBUG) has a high gliding efficiency because of its hydrodynamic shape and high lift-to-drag ratio. Because of the complex body shape of the BWBUG, designing the layout of the internal regulating devices is difficult, which can affect the motion performance. In this study, a dynamic model of the BWBUG was established using the Newton–Euler method. A mathematical model of the spatial constraints of the internal regulating devices was established based on the optimised shape obtained from the authors’ previous research. The stability determination condition equation of the BWBUG is established based on the BWBUG dynamic model and vertical surface evaluation model. An energy consumption model is established based on the BWBUG dynamic analysis and gliding performance evaluation index. The optimisation framework of the BWBUG internal regulating device layout is established with the total range as the target, based on the penalty function and genetic algorithm. Finally, an optimised design of the internal regulating devices is developed using a small BWBUG as an example, and the relationship between each variable and the total range is analysed. The optimisation results show that the maximum gliding range after optimization is 2084.3 km, which is 30.4% higher than the initial range, and the energy-carrying capacity is 23.0% higher than before.