Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider  

作　　者：王树新 孙秀军 王延辉 武建国 王晓鸣 

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

出　　处：《China Ocean Engineering》2011年第1期97-112,共16页中国海洋工程（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos. 50835006 and 51005161);the Science & Technology Support Planning Foundation of Tianjin(Grant No. 09ZCKFGX03000);the Natural Science Foundation of Tianjin(Grant No. 09JCZDJC23400)

摘　　要：PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

关 键 词：hybrid-driven underwater glider autonomous underwater vehicle dynamic modeling momentum theorem 

分 类 号：V277[航空宇航科学与技术—飞行器设计]