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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)
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
会议录名称OCEANS 2014 MTS/IEEE Taipe
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1-6
收录类别EI
EI收录号20145100343169
产权排序1
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
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15321
专题水下机器人研究室
作者单位1.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
推荐引用方式
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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