Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

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.

Design and analysis of folding propulsion mechanism for hybrid-driven underwater gliders

“…The ALCEN company have developed a SeaExplorer glider that can operate in hybrid 'AUV/glider' mode if necessary . Designs of HDUG have also been reported by other researchers (Wang et al, 2011).…”

“…In comparison, the autonomous underwater vehicles (AUVs) in common use today perform missions measured by days (Paull et al, 2013;Hyakudome et al, 2002). However, the speed of existing AUGs is lower than that of AUVs (Wang et al, 2011). Thus the slow speeds of AUGs present challenges for navigation in areas of strong current.…”

Brief Analysis of Underwater Movements of Spherical Robot

“…At present, thousands of underwater robots have been developed to satisfy the requirement of underwater tasks. The streamline shape is usually used in high speed underwater robots and the special shape is always used in remotely-operated vehicle (ROV) to carry out some real time underwater operations [1,2,3] . For a kind of special shape, spherical shape shows a good performance on water resistance and the spherical underwater robot is easy to realize 0 turning radius no matter in what motion state of the robot.…”

Impact of folding propeller spinning position for the transit efficiency of a hybrid-driven underwater glider

“…AUGs have an excellent endurance up to a few months or more [12]. However, the autonomous underwater vehicles(AUVs)have endurance just several hours or few days [13] [14], and the speed up to several knots that is much faster than that of AUGs [15]. We know that the slow speeds of AUGs present challenges for navigation in areas of strong current.…”