Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider |
| |
| Authors: | Shu-xin Wang Xiu-jun Sun Yan-hui Wang Jian-guo Wu Xiao-ming Wang |
| |
| Institution: | WANG Shu-xin,SUN Xiu-jun,WANG Yan-hui,WU Jian-guo and WANG Xiao-ming School of Mechanical Engineering,Tianjin University,Tianjin 300072,China |
| |
| Abstract: | 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. |
| |
| Keywords: | hybrid-driven underwater glider autonomous underwater vehicle dynamic modeling momentum theorem |
| 本文献已被 CNKI 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《中国海洋工程》浏览原始摘要信息 |
| 点击此处可从《中国海洋工程》下载免费的PDF全文 |
|
