Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

被引：186

作者：

Zhang, Shaowei ^{[1
,2
]}

Yu, Jiancheng ^{[1
]}

Zhang, Aiqun ^{[1
]}

Zhang, Fumin ^{[3
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China

[2] Chinese Acad Sci, Grad Sch, Beijing 100049, Peoples R China

[3] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

来源：

OCEAN ENGINEERING | 2013年 / 60卷

关键词：

Underwater glider; Dynamics and control; Hydrodynamic modeling; COORDINATED CONTROL; SIMULATION; BUOYANCY; VEHICLE;

D O I：

10.1016/j.oceaneng.2012.12.023

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper presents a thorough approach characterizing the spiraling motion of underwater gliders. The dynamic model for underwater gliders, steered by a single internal movable and rotatable mass, is established. Spiraling motions are equilibria of the dynamics, for which equations are derived and then solved by a recursive algorithm with fast convergence. This theoretical method is applied to the Seawing underwater glider whose hydrodynamic coefficients are computed using computational fluid dynamics (CFD) software packages. In a recent experiment in the South China Sea, the Seawing glider produced a spiraling motion against strong ocean current, agreeing with theoretical predictions. Hence the recursive algorithm may be used to compute control input to achieve desired spiraling motion for underwater gliders in practice. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：1 / 13

页数：13

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