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题名: Spiraling motion of underwater gliders: Modeling, analysis, and experimental results
作者: Zhang SW(张少伟) ; Yu JC(俞建成) ; Zhang AQ(张艾群) ; Zhang FM(张福民)
作者部门: 水下机器人研究室
关键词: Algorithms ; Computational fluid dynamics ; Dynamics ; Ocean currents ; Sailing vessels
刊名: Ocean Engineering
ISSN号: 0029-8018
出版日期: 2013
卷号: 60, 期号:0, 页码:1-13
收录类别: SCI ; EI
产权排序: 1
摘要: This paper presents a thorough approach characterizing the spiraling motion of underwater gliders. The dynamic model for underwater gliders, steered by a single internal movable and rotatable mass, is established. Spiraling motions are equilibria of the dynamics, for which equations are derived and then solved by a recursive algorithm with fast convergence. This theoretical method is applied to the Seawing underwater glider whose hydrodynamic coefficients are computed using computational fluid dynamics (CFD) software packages. In a recent experiment in the South China Sea, the Seawing glider produced a spiraling motion against strong ocean current, agreeing with theoretical predictions. Hence the recursive algorithm may be used to compute control input to achieve desired spiraling motion for underwater gliders in practice.
语种: 英语
WOS记录号: WOS:000317087800001
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
关键词[WOS]: COORDINATED CONTROL ; SIMULATION ; BUOYANCY ; VEHICLES ; ENERGY ; SYSTEM
研究领域[WOS]: Engineering ; Oceanography
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10555
Appears in Collections:水下机器人研究室_期刊论文

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