文章基本信息

标题：Study on Position and Shape Effect of the Wings on Motion of Underwater Gliders
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作者：Huang, Jiafeng ; Choi, Hyeung-Sik ; Vu, Mai The 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2022
卷号：10
期号：7
页码：1-23
DOI：10.3390/jmse10070891
语种：English
出版社：MDPI AG
摘要：A typical structure of an underwater glider (UG) includes a pair of fixed wings, and the hydrodynamic force driving the glider forward as descending or ascending in the water is generated primarily by the fixed wings. In this paper, a simplified glider motion model was established to analyze the dynamics in an easier way, and whose simulation results do not differ from the original one. Also, in the paper, the effects of the wing position and wing shape on the UG to the motion were studied. Since no direct analytic approach cannot be performed, the case study of the effects of six different wing positions and three wing shapes on gliding performances which are gliding speed, gliding angle and gliding path were performed through computer simulation. The simulation results revealed that when the fixed wing is located far from the buoyancy center to the tail end, more traveling range is achieved with less energy. Also, effect of the shape difference of the wings were analyzed. Shape changes did not show much difference on the travelling performance of the UG. In addition to these, the transient mode of the UG was studied. To control this, the PID controller for the position of the mass shifter and piston were applied. By application of the PID controller to the linearized dynamics equations, it was shown that the transient behavior of the UG was quickly and steadily controlled.
关键词：underwater glider; fixed wings; simplified model; simulation; PID controller