Underwater glider design based on dynamic model analysis and prototype development

Shuang-shuang FAN; Can-jun YANG; Shi-lin PENG; Kai-hu LI; Yu XIE; Shao-yong ZHANG

doi:10.1631/jzus.C1300001

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Underwater glider design based on dynamic model analysis and prototype development

计算机与自动化 | Updated：2022-12-09

- Underwater glider design based on dynamic model analysis and prototype development
- Underwater glider design based on dynamic model analysis and prototype development
- 信息与电子工程前沿（英文） 2013年14卷第8期页码：583-599
- Affiliations：
  
  The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  [ "Shuang-shuang FAN, fanshuangshuang@163.com" ]
  Can-jun YANG, ycj@zju.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 51221004) and the Natural Science Foundation of Zhejiang Province, China (No. R1090453)
- DOI：10.1631/jzus.C1300001
  中图分类号： TP242
- 收稿：2013-01-02，
  
  修回：2013-;7-12，
  
  纸质出版：2013-08
- Accepted：
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Underwater glider design based on dynamic model analysis and prototype development[J]. 信息与电子工程前沿（英文）, 2013,14(8):583-599.

Shuang-shuang FAN, Can-jun YANG, Shi-lin PENG, et al. Underwater glider design based on dynamic model analysis and prototype development[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(8): 583-599.
Underwater glider design based on dynamic model analysis and prototype development[J]. 信息与电子工程前沿（英文）, 2013,14(8):583-599. DOI： 10.1631/jzus.C1300001.

Shuang-shuang FAN, Can-jun YANG, Shi-lin PENG, et al. Underwater glider design based on dynamic model analysis and prototype development[J]. Frontiers of Information Technology & Electronic Engineering, 2013, 14(8): 583-599. DOI： 10.1631/jzus.C1300001.

摘要

Abstract

Underwater gliders are efficient mobile sensor platforms that can be deployed for months at a time

traveling thousands of kilometers. Here

we describe our development of a coastal 200 m deep underwater glider

which can serve as an ocean observatory platform operating in the East China Sea. Our glider is developed based on dynamic model analysis: steady flight equilibrium analysis gives the varied range of moving mass location for pitch control and the varied vehicle volume for buoyancy control; a stability analysis is made to discuss the relationship between the stability of glider motion and the location of glider wings and rudder by root locus investigation of glider longitudinal- and lateral-directional dynamics

respectively. There is a tradeoff between glider motion stability and control authority according to the specific glider mission requirements. The theoretical analysis provides guidelines for vehicle design

based on which we present the development progress of the Zhejiang University (ZJU) glider. The mechanical

electrical

and software design of the glider is discussed in detail. The performances of glider key functional modules are validated by pressure tests individually; preliminary pool trials of the ZJU glider are also introduced

indicating that our glider functions well in water and can serve as a sensor platform for ocean sampling.

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references

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