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Front. Inform. Technol. Electron. Eng.  2013, Vol. 14 Issue (8): 583-599    DOI: 10.1631/jzus.C1300001
    
Underwater glider design based on dynamic model analysis and prototype developmentv
Shuang-shuang Fan, Can-jun Yang, Shi-lin Peng, Kai-hu Li, Yu Xie, Shao-yong Zhang
The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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
The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
 全文: PDF 
摘要： 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.
关键词： Underwater glider design;  Equilibrium;  Stability;  Pressure test;  Pool trial    
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.
Key words: Underwater glider design    Equilibrium    Stability    Pressure test    Pool trial
收稿日期: 2013-01-02 出版日期: 2013-08-02
CLC:  TP242  
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Shuang-shuang Fan
Can-jun Yang
Shi-lin Peng
Kai-hu Li
Yu Xie
Shao-yong Zhang

引用本文:

Shuang-shuang Fan, Can-jun Yang, Shi-lin Peng, Kai-hu Li, Yu Xie, Shao-yong Zhang. Underwater glider design based on dynamic model analysis and prototype development. Front. Inform. Technol. Electron. Eng., 2013, 14(8): 583-599.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1300001    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2013/V14/I8/583

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