A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.
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Foundation item: The research was financially supported by the National Natural Science Foundation of China (Grant No. 51475319), and the National Hi-Tech Research and Development Program of China (863 Program, Grant No. 2012AA091001).
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Liu, F., Wang, Yh., Wu, Zl. et al. Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II. China Ocean Eng 31, 55–62 (2017). https://doi.org/10.1007/s13344-017-0007-4
- hybrid underwater glider
- dynamic model
- numerical simulation
- underwater vehicles