Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider

作者：Wang Shu xin; Sun Xiu jun; Wang Yan hui^*; Wu Jian guo; Wang Xiao ming

来源：China Ocean Engineering, 2011, 25(1): 97-112.

DOI：10.1007/s13344-011-0008-7

• hybrid-driven
• underwater glider
• autonomous underwater vehicle
• dynamic modeling
• momentum theorem

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 he feasibility of the dynamic model is validated by data from lake field trials.

• 出版日期2011
• 单位天津大学