Dynamic Modeling and Three-Dimensional Motion Analysis of Underwater Gliders  

作　　者：王延辉 王树新 

机构地区：[1]School of Mechanical Engineering, Tianjin University

出　　处：《China Ocean Engineering》2009年第3期489-504,共16页中国海洋工程（英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant No.50835006);the Natural Science Foundation of Tianjin (Grant No.09JCZDJC23400)

摘　　要：For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.

关 键 词：underwater glider dynamic modeling Gibbs function Appell equations 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]