[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5574/JAROE.2017.3.1.025

Dynamics Modeling and Behavior Analysis of Underwater Glider System

Nam, Keon-Seok (Division of Marine Equipment Engineering, Korea Maritime and Ocean University)
Kim, Donghee (Division of Mechanical and Energy Systems Engineering, Korea Maritime University)
Choi, Hyeung-Sik (Division of Mechanical and Energy Systems Engineering, Korea Maritime and Ocean University)
Lee, Shin-je (Maritime Security Research Center, Korea Institute of Ocean Science & Technology)
Kim, Joon-Young (Division of Marine Equipment Engineering, Korea Maritime and Ocean University)

Publication Information

Journal of Advanced Research in Ocean Engineering / v.3, no.1, 2017 , pp. 25-31 More about this Journal

Abstract

Generally, underwater gliders do not have separate propellers for their forward movement. They derive a propulsive force due to the difference between their buoyancy and gravity. The attitude of an underwater glider is controlled by changing the relative position of the buoyancy center and mass center. In this study, we derived nonlinear 6-DOF dynamic and mathematical models for the motion controller and buoyancy controller. Using these equations, we performed dynamic underwater glider simulations and verified the suitability of the design and dynamic performance of the proposed underwater glider.

Keywords

Underwater glider; Buoyancy controller; Motion controller; Nonlinear 6-DOF equation;

Citations & Related Records

Reference

1	Fossen, T.L., Guidance and Control of Ocean Vehicles, John Wiley & Sons, New York, 1994.
2	Graver, Joshua Grady. Underwater gliders: Dynamics, control and design. Diss. PhD thesis, Princeton University, 2005.
3	Roemmich, D., et. al., Autonomous profiling floats; workhorse for broadscale ocean observations, J. of Tec So, 38(2) Mar. 2004.
4	Sherman, J., et. al., The autonomous underwater glider Spray, IEEE J. of Oceanic Engineering, 26 (Oct. 2001) 437-466. DOI
5	D. C. Webb, et. al., SLOCUM, an underwater glider propelled by environmental energy, IEEE J. of Oceanic Engineering, 26 (Oct. 2001) 437-446. DOI
6	Eriksen, C. C., et. al., Seaglider: A long range autonomous underwater vehicle for Oceanographic research, IEEE J. of Oceanic Engineering, 26 (2004) 424-436.