Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II

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• 作者：Fang Liu ; Yan-hui Wang ; Zhi-liang Wu ; Shu-xin Wang
• 关键词：Key wordshybrid underwater glider ; dynamic model ; numerical simulation ; underwater vehicles
• 刊名：China Ocean Engineering
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：31
• 期：1
• 页码：55-62
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Offshore Engineering; Oceanography; Coastal Sciences; Fluid- and Aerodynamics; Marine & Freshwater Sciences; Numerical and Computational Physics, Simulation;
• 出版者：Chinese Ocean Engineering Society
• ISSN：2191-8945
• 卷排序：31

文摘

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.