eCite Digital Repository

Underwater glider design based on dynamic model analysis and prototype development

Citation

Fan, S-s and Yang, C-j and Peng, S-l and Li, K-h and Xie, Y and Zhang, S-y, Underwater glider design based on dynamic model analysis and prototype development, Journal of Zhejiang University-SCIENCE C (Computers & Electronics), 14, (8) pp. 583-599. ISSN 1869-1951 (2013) [Professional, Refereed Article]


Preview
PDF (Shuangshuang Fan, Canjun Yang, Shilin Peng, Kaihu Li, Yu Xie and Shaoyong Zhang. “Underwater glider design based on model analysis and prototype development,” Journal of Zhejiang University Science C, 14(8): 583-599, 2013 )
Pending copyright assessment - Request a copy
4Mb

Preview
PDF
Pending copyright assessment - Request a copy
159Kb

DOI: doi:10.1631/jzus.C1300001

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.

Item Details

Item Type:Professional, Refereed Article
Keywords:underwater glider design, equilibrium, stability, pressure test, pool trial
Research Division:Engineering
Research Group:Maritime Engineering
Research Field:Special Vehicles
Objective Division:Defence
Objective Group:Defence
Objective Field:National Security
UTAS Author:Fan, S-s (Dr Shuangshuang Fan)
ID Code:125985
Year Published:2013
Web of Science® Times Cited:4
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-10-12
Downloads:0

Repository Staff Only: item control page