Motion simulation for propeller-driven USM underwater glider with controllable wings and rudder
This paper describes the dynamic model and motion simulation for propeller-driven USM underwater glider with independently controllable wings and rudder. The underwater glider is a highly efficient autonomous underwater vehicle which glides through the ocean water column in saw-tooth pattern. It use...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Conference or Workshop Item |
| Published: |
2011
|
| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/9429/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This paper describes the dynamic model and motion
simulation for propeller-driven USM underwater glider with
independently controllable wings and rudder. The underwater
glider is a highly efficient autonomous underwater vehicle which
glides through the ocean water column in saw-tooth pattern. It
uses buoyancy for propulsion by controlling ballast pump and
internal moving mass. However, in our research work, we
attempt to design an underwater glider which can be driven by
buoyancy or propeller, and the external actuators (wings and
rudder) can be controlled independently. We have designed the
mathematical model and studied the dynamic characteristics of
USM underwater glider. The simulation results demonstrate the
motion of propeller-driven USM underwater glider based on
different angles of wings and rudder. The results show the
position of glider, linear and angular velocities of the glider, angle
of attack and glider speed. With the resulting glider behavior in
this open loop control output, we will extend the control
approach in order to create an efficient biologically inspired
control algorithm for an optimized hybrid-driven USM
underwater glider. |
|---|