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Spiraling motion of underwater gliders: Modeling, analysis, and experimental results
Zhang SW(张少伟); Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民)
Department水下机器人研究室
Source PublicationOcean Engineering
ISSN0029-8018
2013
Volume60Issue:0Pages:1-13
Indexed BySCI ; EI
EI Accession number20130415926835
WOS IDWOS:000317087800001
Contribution Rank1
KeywordAlgorithms Computational Fluid Dynamics Dynamics Ocean Currents Sailing Vessels
AbstractThis 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.
Language英语
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS SubjectEngineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography
WOS KeywordCOORDINATED CONTROL ; SIMULATION ; BUOYANCY ; VEHICLES ; ENERGY ; SYSTEM
WOS Research AreaEngineering ; Oceanography
Citation statistics
Cited Times:69[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10555
Collection水下机器人研究室
Corresponding AuthorZhang FM(张福民)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114, Nanta Street, Shenyang, Liaoning 110016, China
2.Graduate School of Chinese Academy of Sciences, Beijing 100049, China
3.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, United States
Recommended Citation
GB/T 7714
Zhang SW,Yu JC,Zhang AQ,et al. Spiraling motion of underwater gliders: Modeling, analysis, and experimental results[J]. Ocean Engineering,2013,60(0):1-13.
APA Zhang SW,Yu JC,Zhang AQ,&Zhang FM.(2013).Spiraling motion of underwater gliders: Modeling, analysis, and experimental results.Ocean Engineering,60(0),1-13.
MLA Zhang SW,et al."Spiraling motion of underwater gliders: Modeling, analysis, and experimental results".Ocean Engineering 60.0(2013):1-13.
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