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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献
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以水下弹性缆索为研究对象,分析了处理缆索弹性的段前弹簧模型,发展了缆索的多体有限段模型,提出弹性缆段模型,将多体运动力学和弹性力学结合起来,用于求解弹性缆索的动力学响应。对于水下缆索所受的流场力,推导了流场分布力的质心等效力系,并通过揭示水下缆索的附加质量与缆索自身惯性的本质联系,得到了包含附加质量力影响的水下弹性缆索的动力学方程。对工程实例进行了仿真研究,结果与实际情况吻合良好。 相似文献
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