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Dynamics of underwater gliders in currents

journal contribution
posted on 2023-05-19, 18:08 authored by Fan, S, Woolsey, CA
Although underwater vehicles often operate in time-varying, nonuniform currents, the effect of flow gradients on vehicle dynamics is typically ignored in motion models used for control and estimation. Forces and moments due to a nonuniform flow field are strongest when apparent mass effects are important and flight paths are most sensitive to these disturbances when flow-relative velocities are small – precisely the situation for underwater gliders. This paper presents a nonlinear multi-body dynamic model for an underwater glider operating in an unsteady, nonuniform flow. The eight degree of freedom model incorporates a cylindrically actuated moving mass, a common glider actuation scheme. To illustrate the utility of this full dynamic model, numerical motion predictions are compared with those of simpler models for a variety of nonuniform flow fields. We also demonstrate the use of the full dynamic model for flow estimation using parameter adaptive filtering.

History

Publication title

Ocean Engineering: An International Journal of Research and Developmento

Volume

84

Pagination

249-258

ISSN

0029-8018

Department/School

Australian Maritime College

Publisher

Pergamon-Elsevier Science Ltd

Place of publication

The Boulevard, Langford Lane, Kidlington, Oxford, England, Ox5 1Gb

Rights statement

Copyright 2014 Elsevier Ltd. All rights reserved.

Repository Status

  • Restricted

Socio-economic Objectives

National security

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