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Control system for long-range survey hybrid-driven underwater glider
Chen ZE(陈质二); Yu JC(俞建成); Zhang AQ(张艾群)
作者部门水下机器人研究室
会议名称OCEANS 2015 MTS/IEEE Genova
会议日期May 18-21, 2015
会议地点Genova, Italy
会议录名称OCEANS 2015 MTS/IEEE Genova
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1-6
收录类别EI ; CPCI(ISTP)
EI收录号20160701916099
WOS记录号WOS:000380485500385
产权排序1
ISBN号978-1-4799-8736-8
关键词Control Glider Auv
摘要A hybrid-driven underwater glider is a new class of autonomous underwater gilder which combines the concept of a conventional autonomous underwater vehicle (AUV) and a conventional autonomous underwater glider (AUG). This kind of vehicle can operate in three different modes, such as propeller-driven mode, buoyancy-driven mode, as well as hybrid-driven mode. In order to find the characteristics of AUV mode of the HDUG. This paper use Lagrange method build a 3D hydro-dynamic model for the hybrid-driven underwater glider. And we analyze the motion characteristics of the HDUG in vertical plane. The target output is the pitch angle, horizontal velocity, trajectory and angle of attack. Simulation results show that in AUV mode, the HDUG will experience much lower resistance and obtain higher velocity in zero angle of attack and neutral buoyancy case. This results give us advice that if we want the HDUG can reach farther distance we should decrease the angle of attack.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17503
专题水下机器人研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
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GB/T 7714
Chen ZE,Yu JC,Zhang AQ. Control system for long-range survey hybrid-driven underwater glider[C]. Piscataway, NJ, USA:IEEE,2015:1-6.
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