Dynamic modeling and characteristics estimation for USM underwater glider
Underwater gliders are a new class of autonomous underwater vehicles, which are energy efficient, inexpensive and can be utilised for long duration mission. They use a ballast system and moving mass to glide in the saw-tooth path pattern through the ocean water column. This paper presents the dynami...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5991821 http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5991821 |
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| Summary: | Underwater gliders are a new class of autonomous
underwater vehicles, which are energy efficient, inexpensive and
can be utilised for long duration mission. They use a ballast
system and moving mass to glide in the saw-tooth path pattern
through the ocean water column. This paper presents the
dynamic model of USM underwater glider based on slender-body
theory. In this work, a moving mass implementation and
hydrodynamic interaction among hull, wings, and tail are
included. The simulation results illustrate the dynamic
characteristics and its response over velocity and angle of attack.
In the results, the equilibrium angle of attack and velocity of
underwater glider at minimum drag force can be obtained based
on specific dimension. In this work, USM underwater glider
produced minimum drag force at 1.7o angle of attack with
velocity of 2.7 m/s. In addition, the effectiveness of a moving mass
actuator also presented in the simulation results. This model will
be used for further works in developing an optimized USM
underwater glider with six degrees of freedom, including
designing an establish full mathematical model of its motions and
control algorithm. |
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