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题名: Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism
作者: Chen ZE(陈质二); Tian BQ(田宝强); Yu JC(俞建成); Zhang AQ(张艾群); Zeng JB(曾俊宝)
作者部门: 水下机器人研究室
会议名称: OCEANS 2014 MTS/IEEE Taipe
会议日期: April 7-10, 2014
会议地点: Taipei, Taiwan
会议录: OCEANS 2014 MTS/IEEE Taipe
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1-6
收录类别: EI
ISBN号: 978-1-4799-3646-5
关键词: model ; hydrodynamic ; underwater glider ; hybrid driven ; folding
摘要: This paper proposes a new approach for the description of three-dimensional motion characteristics of a hybrid-driven underwater glider (HDUG) based on a folding propulsion mechanism. HDUGs have both the high endurance of propeller-driven autonomous underwater vehicles (AUVs) and the high mobility of buoyancy-driven underwater gliders (AUGs). We use Lagrange method build a 3D hydrodynamic model for the hybrid-driven underwater glider. Then we built a hydrodynamic model for the folding propulsion mechanism in different working conditions. And we analyze the motion characteristics of the HDUG in propeller-driven mode, buoyancy-driven mode, and hybrid-driven mode respectively. Simulation results show that in buoyancy-driven mode the HDUG has better gliding performance for propeller blades folding than that for unfolding. The maneuverability of HDUG has been improved due to the folding propulsion mechanism. The HDUG is stable in all expectation state.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15321
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Chen ZE,Tian BQ,Yu JC,et al. Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism[C]. 见:OCEANS 2014 MTS/IEEE Taipe. Taipei, Taiwan. April 7-10, 2014.
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文件名: Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism.pdf
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