Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	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)
	2014
会议名称	OCEANS 2014 MTS/IEEE Taipe
会议日期	April 7-10, 2014
会议地点	Taipei, Taiwan
关键词	model hydrodynamic underwater glider hybrid driven folding
页码	1-6
中文摘要	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.
收录类别	EI
产权排序	1
会议录	OCEANS 2014 MTS/IEEE Taipe
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-3646-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15321]
专题	沈阳自动化研究所_水下机器人研究室
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]. 见:OCEANS 2014 MTS/IEEE Taipe. Taipei, Taiwan. April 7-10, 2014.