Effect of Rudder and Roll Control Mechanism on Path Prediction of Autonomous Underwater Gliders

Shankar, R. V. Shashank; Vijayakumar, R.

doi:10.1007/978-981-13-3119-0_29

Cited by 4 publications

(2 citation statements)

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“…For the glider studied, seventeen combinations are calculated which result in a stable spiral. The inputs and outputs for these seventeen conditions are taken from published and validated literature 8 . The trajectory simulation method used is the solution of the equations by the FSOLVE algorithm.…”

Section: Methodsmentioning

confidence: 99%

“…Solution methods involve standard non-linear equation solvers like Newton Raphson methods. A previous study by the current authors used the above equations in conjunction with optimisation algorithms to predict the spiral motion characteristics of an underwater glider 8 . The first study used the FSOLVE algorithm and the results were validated with the work of Feitian Zhang et.…”

Section: Dynamics Equationsmentioning

confidence: 99%

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Sensitivity Analysis of the Turning Motion of an Underwater Glider on the Viscous Hydrodynamic Coefficients

Rayaprolu

Vijayakumar

2021

Def. Sc. J.

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Autonomous underwater gliders (AUG) are a class of underwater vehicles that move using a buoyancy engine and forces from wings. Gliders execute turning motion with the help of a rudder or an internal roll control mechanism and the trajectory of the turn is a spiral. This paper analyses the sensitivity of the characteristics of spiral manoeuvre on the hydrodynamic coefficients of the glider. Based on the dynamics model of a gliding fish whose turn is enabled by a rudder, the effect of hydrodynamic coefficients of the hull and the rudder on the spiral motion are quantified. Local sensitivity analysis is undertaken using the indirect method. The order of importance of hydrodynamic coefficients is evaluated. It is observed that the spiral path parameters are most sensitive to the side force created by the rudder and the effect of the drag coefficient is predominant to that of the lift coefficients. This study will aid in quantifying the effect of change of geometry on the manoeuvrability of AUGs.

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Section: Methodsmentioning

confidence: 99%

Section: Dynamics Equationsmentioning

confidence: 99%