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http://dx.doi.org/10.5916/jkosme.2015.39.7.709

Dynamics modeling and performance analysis for the underwater glider  

Nam, Keon-Seok (Department of Materials Engineering, Korea Maritime and Ocean University)
Bae, Jae-Hyeon (Department of Mechanical Engineering, Korea Maritime and Ocean University)
Jeong, Sang-Ki (Maritime Security Research Center, Korea Institute of Ocean Science & Technology)
Lee, Shin-Je (Maritime Security Research Center, Korea Institute of Ocean Science & Technology)
Kim, Joon-Young (Division of Mechanical Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.39, no.7, 2015 , pp. 709-715 More about this Journal
Abstract
Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.
Keywords
Underwater glider; Buoyancy engine; Motion controller; Dynamics modeling; Dynamic simulation;
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Times Cited By KSCI : 1  (Citation Analysis)
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