中文摘要：

水下滑翔器设计参数对其运动性能具有重要影响．通过对水下滑翔器稳定运动状态的分析，获得其设计参数与整体运动性能的关系，并得到参数的取值范围，用于指导水下滑翔器设计过程．为此，详细分析了水下滑翔器稳态运动时的攻角、运动方向、速度和设计参数之间的关系，并得到水下滑翔器设计参数需要满足的约束条件．通过分析水下滑翔器的运动性能，得到旋转重物的偏心量和浮力调节系统位置等参数的优化取值．最后，文章设计了水下滑翔器的物理样机，并进行了水域试验，验证了设计和分析的有效性

英文摘要：

Design parameters have great impact on the moving performances of the underwater glider. The relationship between design parameters and system performances,together with the range of the parameters was derived from steady moving analysis of the underwater glider, which can be used as a guidance to the underwater gliders＇ design. The interrelationship between the attack angle,velocity,pitch angle and the design parameters was analyzed in detail and the constraint conditions of the design parameters were obtained. The eccentricity of the rotatable rigid body and the position of the buoyancy changing system were optimized through analysis of the performances of the glider. Finally ,the physical model of the underwater glider was designed and the validity of the design and analysis was verified by the lake trials of the designed underwater glider.