Stability analysis of hybrid-driven underwater glider

Niu, Wendong; Wang, Shuxin; Wang, Yanhui; Yang, Song; Zhu, Yaqiang

doi:10.1007/s13344-017-0061-y

Cited by 40 publications

(14 citation statements)

References 15 publications

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“…However, low speed is an inherent characteristic of UGs. Although some research institutions have adopted hybrid driven [50,51], vector propulsion [52], and other methods to improve the maneuverability of UGs, it has also brought the disadvantages of high energy consumption and complex structure. Thus, how to improve the maneuverability and application area of the UG while maintaining a low speed is of great research value.…”

Section: Discussionmentioning

confidence: 99%

Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

Zhou¹,

Yu²,

Jin³

et al. 2020

JMSE

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A disc-type underwater glider (DTUG) has a highly symmetrical shape and is characterized by omnidirectional characteristics and high maneuverability in small bodies of water. To further explore the disc shape’s advantages and characteristics in steering motion, DTUG motion was simulated by Matlab/Simulink. Based on the structural characteristics of DTUG, the motion control equations were established. The simulation of DTUG’s steering motion is carried out and compared with a previous DTUG (LUNA). The sensitivity analysis and Lyapunov stability analysis were also conducted. The results showed that the in situ steering motion can be realized by controlling the position of the center of gravity (CG) of DTUG without moving vertically, which facilitates rapid adjustment of the yaw angle and flexible movement in small bodies of water. The in situ steering motion was significantly affected by the control parameters. The parameter that had the greatest effect on it can be obtained through sensitivity analysis, which can guide DTUG to better adjust the yaw angle under different conditions. The stability analysis showed that the DTUG can remain stable within the range of the control parameter.

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Section: Discussionmentioning

confidence: 99%

Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

Zhou¹,

Yu²,

Jin³

et al. 2020

JMSE

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“…In this test, the attack and sideslip angles are designed for testing change between (-9 − 9 ∘ ). The glider equipped with a propeller can achieve a higher velocity and due to which the hydrodynamic performance is more complex [19]. To test the performance of the glider at a high velocity, the movement…”

Section: Experimental Programmementioning

confidence: 99%

“…The underwater glider mainly glides in steady state and, with the increase of the performance for the glider, a propeller is usually installed at the end of the glider in order to improve the gliding speed [18,19]. Unlike traditional AUV, the glider propeller only starts within a specified period of time and, while the propeller is not running, as an add-on static appendage, it will generate additional drag.…”

Section: Introductionmentioning

confidence: 99%

Experimental and Numerical Study on Hydrodynamic Performance of an Underwater Glider

Liu

et al. 2018

Mathematical Problems in Engineering

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The hydrodynamic coefficients are important parameters for predicting the motion of the glider and upgrading the hull design. In this paper, based on the Reynolds number similarity theory, 6 degrees of freedom (DOFs) of the fluid force and torque of a 1:1 full-scale glider model are measured. The present measurements were carried out at (2 - 14m/s) by varying attack angles and sideslip angles (-9 - 9°), respectively. The measurements were used to study the variation of the hydrodynamics of the glider, and the measurements have also been used to validate results obtained from a CFD code that uses RNG k-ε. The hydrodynamic force coefficients obtained from CFD accord well with the measurements. However, the torque coefficients difference is fairly large. Dynamics simulation results show that CFD results can be used to design and study the motion characteristics of gliders. In order to simplify the design process of gliders, we fit the empirical formula based on the experimental data and obtain a drag coefficient equation with Reynolds number. The influence of two kinds of appendages of the Conductance-Temperature-Depth (CTD) unit and thruster unit on the glider drag were studied by a contrast test. The analysis results can provide reference for design and the motion investigate of gliders.

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“…For the relatively simple mechanical [7] and [8] and mechanical-fluid [9] system, the Lyapunov function is commonly used to judge the stability. However, it is difficult to construct the Lyapunov function directly from the complex shiplift system.…”

Section: Introductionmentioning

confidence: 99%

Pitch Stability Analysis for Mechanical-Hydraulic-Structural-Fluid Coupling System of High-Lift Hoist Vertical Shiplift

Zhang

Shi

Xiao

et al. 2020

SV-JME

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Pitch stability of the high-lift wire rope hoist vertical shiplift under dynamic hydraulic levelling has always been an issue of concern. It not only affects working efficiency but also brings significant challenges to operational safety. A new mechanical-hydraulic-structural-fluid (MHSF) coupling dynamics model and a developed semi-analytical method are presented for stable property analysis. The models of the hydraulic levelling subsystem, shallow water sloshing subsystem, the main hoist mechanical subsystem, and the shiplift chamber structure subsystem are built using a closed-loop transfer function, multi-modal theory, and an second-type Lagrangian equation, respectively. Then, a core twentyone order state matrix of the MHSF coupling system is established using the state-space method. Subsequently, the Lyapunov motion stability theory and Eigen-analysis method are used in combination to judge the pitch stability and analyse the characteristics of the subsystems. Taking four typical high-lift hoist vertical shiplifts as examples, the rationality of the proposed model and method is validated. The results indicate that although the pitch stability safety factor under hydraulic dynamic levelling is reduced by about 15 % to 44 % with respect to hydraulic static levelling, hydraulic dynamic levelling still can meet stability requirements. Furthermore, for the designed 200 m level hoist vertical shiplift, the preliminary design parameters can ensure the pitch stability safety factor under dynamic hydraulic levelling of not less than 1.1. The element most prone to instability is the shallow water sloshing subsystem; increasing the synchronous shaft stiffness or the water boundary layer damping ratio can effectively enhance the pitch stability.

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Stability analysis of hybrid-driven underwater glider

Cited by 40 publications

References 15 publications

Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

Analysis of the In Situ Steering Motion Characteristics and Sensitivity of Disc-Type Underwater Gliders

Experimental and Numerical Study on Hydrodynamic Performance of an Underwater Glider

Pitch Stability Analysis for Mechanical-Hydraulic-Structural-Fluid Coupling System of High-Lift Hoist Vertical Shiplift

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