Study on the vertical motion characteristics of disc-type underwater gliders with zero pitch angle

Abstract

A disc-type underwater glider (DTUG) is characterized by full-wing body shape, omnidirectional characteristics, and high maneuverability. To further reveal the differences between DTUGs and hybrid-driven underwater gliders (HUGs), the vertical motion of a DTUG with zero pitch angle is simulated. Based on the structural characteristics of DTUGs, the motion control equations with control inputs are derived and solved by the fourth-order Runge–Kutta method. The DTUG’s vertical velocity, fixed-depth motion, vertical motion with external disturbance, and stability are mainly analyzed and compared with those of an HUG. The results show that the DTUG’s full-wing body shape increases its vertical resistance so that the vertical steady motion velocity is low, which is advantageous for vertical depth control but disadvantageous for fast vertical motion; furthermore, fixed-depth motion control can be easily realized in limited space. The DTUG’s vertical motion with external disturbances can quickly return to a stable state within a smaller vertical distance than that of the HUG, which is beneficial for assisting the DTUG in returning to the target position and will improve its movement efficiency in a small body of water with limited depth. The stability analysis shows the DTUG can remain stable within the range of control parameter.

This is a preview of subscription content, access via your institution.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

References

  1. 1.

    Stommel H (1989) The Slocum Mission. Oceanography 2(1):22–25

    Article  Google Scholar 

  2. 2.

    Webb DC, Simonetti PJ, Jones CP (2001) SLOCUM: an underwater glider propelled by environmental energy. IEEE J Ocean Eng 26(4):447–452

    Article  Google Scholar 

  3. 3.

    Sherman J, Davis RE, Owens W, Valdes J (2001) The autonomous underwater glider “Spray”. IEEE J Ocean Eng 26(4):437–446

    Article  Google Scholar 

  4. 4.

    Eriksen CC, Osse TJ, Light RD, Wen T, Lehman TW, Sabin PL, Ballard JW, Chiodi AM (2001) Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE J Ocean Eng 26(4):424–436

    Article  Google Scholar 

  5. 5.

    Frajka-Williams E, Eriksen CC, Rhines PB, Harcourt RR (2011) Determining vertical water velocities from Seaglider. J Atmos Ocean Technol 28(12):1641–1656

    Article  Google Scholar 

  6. 6.

    Kato N, Akiba T, Ichimi K, Nakatsuji K, Nakata K, Kawasaki T, Arai KHN, Kusaka Y, Hattori M (2005) Prediction of harmful algal population dynamics by autonomous lagrangian platform systems. Jpn Soc Nav Archit Ocean Eng 1:7–10

    Google Scholar 

  7. 7.

    Yamaguchi S, Naito T, Kugimiya T, Akahoshi K, Fujimoto M (2007) A study on a development of a motion control system for underwater gliding vehicle. Jpn Soc Nav Archit Ocean Eng 4:517–520

    Google Scholar 

  8. 8.

    Nakamura M, Hyodo T, Koterayama W (2007) “LUNA” testbed vehicle for virtual mooring. The Seventeenth International Offshore and Polar Engineering Conference

  9. 9.

    Nakamura M, Koterayama W, Inada M, Marubayashi K, Hyodo T, Yoshimura H, Morii Y (2009) Disk-type underwater glider for virtual mooring and field experiment. Int J Offshore Polar Eng 19(1):66–70

    Google Scholar 

  10. 10.

    Arima M, Ichihashi N, Miwa Y (2009) Modelling and motion simulation of an underwater glider with independently controllable main wings. Oceans 2009-Europe

  11. 11.

    Claustre H, Beguery L (2014) SeaExplorer glider breaks two world records. Sea Technol 55(2014):19–21

    Google Scholar 

  12. 12.

    Wang S, Li X, Wang Y, Zhu G (2005) Dynamic modeling and analysis of underwater gliders. Ocean Technol 24(1):5–9

    Google Scholar 

  13. 13.

    Wang S, Wang Y, Zhang D, He M, Zhu G, Ren W (2006) Design and trial on an underwater glider propelled by thermal engine. Ocean Technol 25(1):1–5

    Google Scholar 

  14. 14.

    Ma D, Ma Z, Zhang H, Yao H (2007) Hydrodynamic analysis and optimization on the gliding attitude of the underwater glider. J Hydrodyn 22(6):703–708

    Google Scholar 

  15. 15.

    Ni Y (2008) Research on the performances of a thermal glider. Master thesis. Shanghai Jiaotong University

  16. 16.

    Tian W, Song B, Liu Z (2013) Motion characteristic analysis of a hybrid-driven underwater glider with independently controllable wings. J Northwest Polytech Univ 31(1):122–127

    Google Scholar 

  17. 17.

    Yang C, Peng S, Fan S (2014) Performance and Stability Analysis for ZJU Glider. Mar Technol Soc J 48(3):88–103 (116)

    Article  Google Scholar 

  18. 18.

    Chen G, Zhang Y, Zhao J (2014) Optimum lift-drag ratio of the underwater glider based on mixture models. J Sichuan Ordnance 35(2):150–152

    Google Scholar 

  19. 19.

    Qin Y, Zhang X, Sun X, Yang Y (2016) Design of a high-efficiency propeller for hybrid drive underwater gliders. J Ocean Technol 35(3):40–45

    Google Scholar 

  20. 20.

    Liu Y, Luan X, Song D, Su Z (2017) Simulation for path planning of OUC-II glider with intelligence algorithm. International Conference on Intelligent Robotics and Applications

  21. 21.

    Wang X, Song B, Peng W, Sun C (2018) Hydrofoil optimization of underwater glider using Free-form deformation and surrogate-based optimization. Int J Nav Archit Ocean Eng 10(6):730–740

    Article  Google Scholar 

  22. 22.

    Zhou H, Wang T, Yu P (2018) Study on the motion characteristics of a disc type underwater glider. J Huazhong Univ Sci Technol 46(09):112–118 (Natural Science Edition)

    Google Scholar 

  23. 23.

    Yu P, Wang T, Zhou H, Shen C (2018) Dynamic modeling and three-dimensional motion simulation of a disk type underwater glider. Int J Nav Archit Ocean Eng 10(3):318–328

    Article  Google Scholar 

  24. 24.

    Zhao B, Wang X (2014) Three-dimensional steady motion modeling and analysis for underwater gliders. J Ocean Technol 33(1):11–18

    Google Scholar 

  25. 25.

    Gertler M, Hagen GR (1967) Standard equations of motion for submarine simulation. Naval ship research and development center, Bethesda, MD

  26. 26.

    Koterayama W, Kyozuka Y, Nakamura M, Ohkusu M, Kashiwagi M (1988) (1988) A preliminary design of a depth and roll-controllable towed vehicle for ocean measurements. J Soc Nav Archit Jpn 163:130–140

    Article  Google Scholar 

  27. 27.

    Sun Y, Zhang Y, Zhang G, Li Y (2013) Path tracking control of underactuated AUVs based on ADRC. Proceedings of 2013 Chinese Intelligent Automation Conference

  28. 28.

    Claus B, Bachmayer R, Cooney L (2012) Analysis and development of a buoyancy-pitch based depth control algorithm for a hybrid underwater glider. 2012 IEEE/OES Autonomous Underwater Vehicles (AUV)

  29. 29.

    Shi X, Lembke C (2014) Research and application of the depth control technology for a class of underwater autonomous drifting floats. J Ocean Technol 33(5):13–17

    Google Scholar 

  30. 30.

    Zhao B, Wang X, Yao B, Lian L (2015) Lyapunov stability analysis of the underwater glider. J Harbin Eng Univ 36(1):83–87

    Google Scholar 

  31. 31.

    Wang S (2007) Dynamic behavior and robust control strategies of the underwater gliders. Ph. D. dissertation. Tianjin University

  32. 32.

    Yudovich VI (1989) The linearization method in hydrodynamical stability theory. Translations of Mathematical Monographs, vol 74. American Mathematical Society, Providence, RI

Download references

Acknowledgements

This work was supported by the National Key Research and Development Program of China (Nos.2016YFC0301500).

Author information

Affiliations

Authors

Corresponding author

Correspondence to Tianlin Wang.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

About this article

Verify currency and authenticity via CrossMark

Cite this article

Zhou, H., Wang, T., Sun, L. et al. Study on the vertical motion characteristics of disc-type underwater gliders with zero pitch angle. J Mar Sci Technol 25, 828–841 (2020). https://doi.org/10.1007/s00773-019-00683-8

Download citation

Keywords

  • Disc-type underwater glider
  • Motion control equation
  • Vertical motion with zero pitch angle
  • External disturbance
  • Small body of water
  • Stability analysis