A wave glider is a novel unmanned marine vehicle which can convert marine energy into kinetic energy. In practice, it is crucial for the wave glider system to deploy into the ocean environment efficiently and safely. Hence, the present work establishes the wave glider motion equations to analyze the deployment method. Firstly, the wave glider model is simplified in the vertical plane and the cable model is defined as mass nodes connected with a massless spring. Then, two typical deployment methods (Method 1 and Method 2) are proposed based on the multibody dynamic method, and the numerical simulation model is established to investigate the kinematic performance of two deployment methods. Lastly, the dynamic characteristic analysis is conducted to select the determined deployment method. We explain the practical advantages of Method 1, which would provide the reference for the deployment method selection.
Wave glider is an unmanned surface vehicle which can directly convert wave energy into forward propulsion and fulfill long-term marine monitoring. Previous study suggested that the wave motion and stiffness of restoring springs mounted on the hydrofoil are main factors affecting the propulsion performance of wave glider. In this paper, the dynamic responses and nonlinear characteristics of underwater propulsion mechanism considering the nonlinear stiffness of restoring springs are investigated based on a fluid-rigid body coupled model. Firstly, the models of propulsion mechanism with different kind of restoring spring are proposed, and the linear and nonlinear characteristics of restoring spring are considered. Then, a fluid-rigid body coupled model of wave glider is developed by coupling the rigid body dynamics model and hydrodynamic model. Dynamic responses are simulated by numerical analysis method and the nonlinear characteristics with different restoring springs are illustrated by time/frequency domain motion response and phase diagram analysis. The effects of wave excitation frequency and wave heights on the propulsion performance of wave glider are analyzed. The results show that, multi-frequency responses occurred in propulsion system. And the study suggests that the nonlinear restoring spring on the hydrofoil can be suitable for different sea condition and better propulsion performance can obtained than linear stiffness spring, which provides a reference for developing propulsion mechanism with high performance in complex marine environment.
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