Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions

Abstract

The underwater glider has difficulty accessing the complex and narrow hadal trench for observation, which is affected by its limited regulation capability of pitch angle (−45°~45°). In this study, a compact attitude regulating mechanism is proposed to extend the regulation range of pitch angle from −90°to 90° and to install it on the hadal-class underwater glider Petrel-XPLUS. Subsequently, the dynamics model of Petrel-XPLUS is established using dual quaternions to solve the “gimbal lock” problem caused by the increased pitch angle range. Within the extended pitch range, the motion modes of the glider are enriched into long-range, virtual mooring, and Lagrangian float modes for long-range, small-area, and current-following observation missions, respectively, and are analyzed using the established dynamics model. Moreover, a ballast method was used to modify the pitch angle range and initial equilibrium state of a constructed underwater glider. Finally, Petrel-XPLUS achieved a pitch angle regulation range of −90°~90° in a water pool experiment and completed three consecutive profiles in a sea trial in the Challenger Deep, Mariana Trench, with all depths over 10,000 m, of which the maximum depth was 10,619 m. The proposed mechanism and methods can also be applied to other submersibles to facilitate ocean observations.

Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders

“…The second segment's dynamics are calculated using the maximum input, as shown in Equation (19). In [29], a closed-form solution was derived for these dynamics, which can be expressed as Equations ( 20)- (22) in this work.…”

“…UGs like the Slocum [16,17], Spray [18], Seaglider [19,20], and Deepglider [21,22] were originally developed for oceanographic applications. While these buoyancy-driven gliders have demonstrated impressive endurance and energy efficiency, they suffer from limitations in speed and maneuverability due to their restricted propulsion capabilities and external control surfaces.…”

Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments

“…Yang et al [28] established a six-dof (six degrees of freedom) parameterized dynamic model of the Petrel-L glider and explored the effects of wing location and net buoyancy on turning maneuverability and gliding stability. Wang et al [29] developed the dynamics model of gliders using dual quaternions to solve the "gimbal lock" problem caused by the increased pitch angle range, which furtherly enriched the motion modes of the glider. The effective dynamic model is crucial for evaluating the motion response and stability of marine buoys.…”