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Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

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Abstract

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

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Authors and Affiliations

  1. School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China

    Shu-xin Wang  (王树新), Xiu-jun Sun  (孙秀军), Yan-hui Wang  (王延辉), Jian-guo Wu  (武建国) & Xiao-ming Wang  (王晓鸣)

Authors
  1. Shu-xin Wang  (王树新)
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  2. Xiu-jun Sun  (孙秀军)
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  3. Yan-hui Wang  (王延辉)
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  4. Jian-guo Wu  (武建国)
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  5. Xiao-ming Wang  (王晓鸣)
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Corresponding author

Correspondence to Yan-hui Wang  (王延辉).

Additional information

The research was supported by the National Natural Science Foundation of China (Grant Nos. 50835006 and 51005161), the Science & Technology Support Planning Foundation of Tianjin (Grant No. 09ZCKFGX03000) and the Natural Science Foundation of Tianjin (Grant No. 09JCZDJC23400).

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Wang, Sx., Sun, Xj., Wang, Yh. et al. Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider. China Ocean Eng 25, 97–112 (2011). https://doi.org/10.1007/s13344-011-0008-7

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  • DOI: https://doi.org/10.1007/s13344-011-0008-7

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