Study on the vertical motion characteristics of disc-type underwater gliders with zero pitch angle
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ORIGINAL ARTICLE
Study on the vertical motion characteristics of disc‑type underwater gliders with zero pitch angle Han Zhou1,2 · Tianlin Wang3 · Li Sun2 · Wei Lan4 Received: 21 March 2019 / Accepted: 5 October 2019 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2019
Abstract A disc-type underwater glider (DTUG) is characterized by full-wing body shape, omnidirectional characteristics, and high maneuverability. To further reveal the differences between DTUGs and hybrid-driven underwater gliders (HUGs), the vertical motion of a DTUG with zero pitch angle is simulated. Based on the structural characteristics of DTUGs, the motion control equations with control inputs are derived and solved by the fourth-order Runge–Kutta method. The DTUG’s vertical velocity, fixed-depth motion, vertical motion with external disturbance, and stability are mainly analyzed and compared with those of an HUG. The results show that the DTUG’s full-wing body shape increases its vertical resistance so that the vertical steady motion velocity is low, which is advantageous for vertical depth control but disadvantageous for fast vertical motion; furthermore, fixed-depth motion control can be easily realized in limited space. The DTUG’s vertical motion with external disturbances can quickly return to a stable state within a smaller vertical distance than that of the HUG, which is beneficial for assisting the DTUG in returning to the target position and will improve its movement efficiency in a small body of water with limited depth. The stability analysis shows the DTUG can remain stable within the range of control parameter. Keywords Disc-type underwater glider · Motion control equation · Vertical motion with zero pitch angle · External disturbance · Small body of water · Stability analysis
1 Introduction Stommel first proposed the concept of an underwater glider [1]. Since then, gliders have been developed rapidly with advantageous characteristics, including low energy consumption, long-range monitoring, and long endurance. In the field of development of underwater glider prototypes, the USA is leading underwater glider research and development. Serval classic glider prototypes have been industrialized, including SLOCUM [2], “Spray” [3, 4] and “Seaglider” [5]. All of these gliders have outstanding performances and * Tianlin Wang [email protected] 1
School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
2
Department of Mechanical Engineering, University of Houston, Houston, TX 77204, USA
3
School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
4
School of Marine Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
contribute significantly to scientific research in marine physics, chemistry, and biology. In addition to the USA, several other countries are developing prototypes, performing tests or producing at a small scale. In this group, Japan (Kato et al. [6], Yamaguchi et a
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