| Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II |
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| 作者姓名： | LIU Fang WANG Yan-hui WU Zhi-liang WANG Shu-xin |
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| 作者单位： | Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;Yichang Research Institute of Testing Technology, Yichang 443003, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China |
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| 基金项目： | The research was financially supported by the National Natural Science Foundation of China (Grant No. 51475319), and the National Hi-Tech Research and Development Program of China (863 Program, Grant No. 2012AA091001). |
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| 摘 要： | A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.
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| 关 键 词： | hybrid underwater glider dynamic model numerical simulation underwater vehicles |
| 收稿时间： | 2015/9/5 0:00:00 |
| 修稿时间： | 2015/11/9 0:00:00 |
Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II |
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| LIU Fang,WANG Yan-hui,WU Zhi-liang,WANG Shu-xin.Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II[J].Ocean Engineering,2017,31(1):55-62. |
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| Authors: | LIU Fang WANG Yan-hui WU Zhi-liang and WANG Shu-xin |
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| Institution: | Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;Yichang Research Institute of Testing Technology, Yichang 443003, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China and Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China |
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| Abstract: | A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials. |
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| Keywords: | hybrid underwater glider dynamic model numerical simulation underwater vehicles |
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