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Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism
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)
Department水下机器人研究室
Conference NameOCEANS 2014 MTS/IEEE Taipe
Conference DateApril 7-10, 2014
Conference PlaceTaipei, Taiwan
Source PublicationOCEANS 2014 MTS/IEEE Taipe
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages1-6
Indexed ByEI ; CPCI(ISTP)
EI Accession number20145100343169
WOS IDWOS:000412588000108
Contribution Rank1
ISBN978-1-4799-3646-5
KeywordModel Hydrodynamic Underwater Glider Hybrid Driven Folding
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15321
Collection水下机器人研究室
Affiliation1.University of Chinese Academy of Sciences, Shenyang Institute of Automation, Chinese Academy of Sciences, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
Recommended Citation
GB/T 7714
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]. Piscataway, NJ, USA:IEEE,2014:1-6.
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