Effect of wing form on the hydrodynamic characteristics and dynamic stability of an underwater glider

Javaid, Muhammad Yasar; Ovinis, Mark; Hashim, Fakhruldin Bin Mohd; Maimun, Adi; Ahmed, Yasser M.; Ullah, Barkat

doi:10.1016/j.ijnaoe.2016.09.010

Cited by 39 publications

(27 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The system (24) has four inputs and six outputs; therefore, it is an underactuated system. We can see that the challenge is the lateral force f 3 sinα of f in (17). Consider f as…”

Section: Kinematics and Kineticsmentioning

confidence: 99%

“…They are propelled using fixed thrusters, and some of these vehicles are equipped with vertical and horizon thrusters to provide extra control forces. An ocean glider is an autonomous underwater vehicle used for ocean science [15,17]; it uses a small change of buoyancy in order to ascend and descend. A fixed wing converts the vertical motion to horizontal motion [18], thus acting like a saw tooth pattern [19].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

Wang

2018

Applied Sciences

View full text Add to dashboard Cite

Spot hover and high speed capabilities of underwater vehicles are essential for ocean exploring, however, few vehicles have these two features. Moreover, the motion of underwater vehicles is prone to be affected by the unknown hydrodynamics. This paper presents a novel negative-buoyancy autonomous underwater vehicle equipped with tri-tilt-rotor to obtain these two features. A detailed mathematical model is derived, which is then decoupled to altitude and attitude subsystems. For controlling the underwater vehicle, an attitude error model is designed for the attitude subsystem, and an adaptive nonlinear controller is proposed for the attitude error model based on immersion and invariance methodology. To demonstrate the effectiveness of the proposed controller, a three degrees of freedom (DOF) testbed is developed, and the performance of the controller is validated through a real-time experiment.

show abstract

“…The system (24) has four inputs and six outputs; therefore, it is an underactuated system. We can see that the challenge is the lateral force f 3 sinα of f in (17). Consider f as…”

Section: Kinematics and Kineticsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

Wang

2018

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The model meshing of the water area is shown in Figure 4. (4) and (5), the force and moment coefficients can be obtained.…”

Section: Numerical Modellingmentioning

confidence: 99%

“…The mass and the buoyance are about the same and with a low gliding speed [2][3][4]. The hydrodynamic coefficients have a significant impact on gliders' designing and movement [5,6].…”

Section: Introductionmentioning

confidence: 99%

Experimental and Numerical Study on Hydrodynamic Performance of an Underwater Glider

Liu

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The hydrodynamic coefficients are important parameters for predicting the motion of the glider and upgrading the hull design. In this paper, based on the Reynolds number similarity theory, 6 degrees of freedom (DOFs) of the fluid force and torque of a 1:1 full-scale glider model are measured. The present measurements were carried out at (2 - 14m/s) by varying attack angles and sideslip angles (-9 - 9°), respectively. The measurements were used to study the variation of the hydrodynamics of the glider, and the measurements have also been used to validate results obtained from a CFD code that uses RNG k-ε. The hydrodynamic force coefficients obtained from CFD accord well with the measurements. However, the torque coefficients difference is fairly large. Dynamics simulation results show that CFD results can be used to design and study the motion characteristics of gliders. In order to simplify the design process of gliders, we fit the empirical formula based on the experimental data and obtain a drag coefficient equation with Reynolds number. The influence of two kinds of appendages of the Conductance-Temperature-Depth (CTD) unit and thruster unit on the glider drag were studied by a contrast test. The analysis results can provide reference for design and the motion investigate of gliders.

show abstract

“…The devices of well streamlined shape. The most common form of the body of such a device is an oblong torpedo-shaped form [5][6], sometimes with ballast [7] or flattened in a vertical or horizontal plane, with underwater wings [8][9]. Devices with bodies of similar shape provide a sufficiently high speed of longitudinal movement at a sufficiently low turning ability.…”

Section: Introductionmentioning

confidence: 99%

Justification for the Body Construction Selection of the Unmanned Uninhabited Underwater Apparatus

2018

View full text Add to dashboard Cite

show abstract

Effect of wing form on the hydrodynamic characteristics and dynamic stability of an underwater glider

Cited by 39 publications

References 3 publications

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

Experimental and Numerical Study on Hydrodynamic Performance of an Underwater Glider

Justification for the Body Construction Selection of the Unmanned Uninhabited Underwater Apparatus

Contact Info

Product

Resources

About