Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane

Net buoyancy, as the main power source for the motion of an underwater glider, is affected by the pump or bladder that the glider adopts to change its buoyancy force in water. In this study, a new underwater glider that can dive to a depth of 400 m at a cruising speed of 2 knots, which is faster than conventional underwater gliders and is less affected by sea currents, is investigated. The UG resisting 400 m pressure on the buoyancy engine and achieving 2 knots’ speed was designed and constructed. For this UG, its steady-state attitude was studied according to the variance of the buoyancy center and the center of gravity with the buoyancy engine influenced by the displacement of the movable mass block. In motion simulation of the UG, the attitude of the UG under different displacement conditions was simulated in Simulink according to the displacements of the piston and the movable mass block. To validate the simulation performance, a UG was constructed and experiments were conducted. The simulation and experimental results were compared to show the reliability of the simulation results under limited conditions.

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“…r p3 = 0. The dynamics equations are obtained using the Newton-Euler motion and dynamics equations shown below [7,13,15]:…”

Section: P +ωP (35)mentioning

confidence: 99%

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

et al. 2021

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“…E-mail address: hchoi@kmou.ac.kr equipment easily and quickly in the research process of underwater equipment [8][9][10][11][12]. Nguyen et al [13] have proposed a robust adaptive control algorithm for the hybrid underwater glider (HUG). In the descend and ascend periods, the pitch control is designed using the backstepping technique and direct adaptive control.…”

Section: Introductionmentioning

confidence: 99%

Simulation Study on a New Hybrid Autonomous Underwater Vehicle with Elevators

Jiafeng Huang,

Hyeung-Sik Choi,

Dong-Wook Jung

et al. 2023

Proc. eng. technol. innov.

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This study aims to design a new hybrid twin autonomous underwater vehicle (HTAUV) consisting of dual cylinder hulls and analyze its pitching motion. The kinematic model for the HTAUV is established, followed by the execution of hydrodynamic simulation CFD of the HTAUV using Ansys Fluent. These simulations are conducted to obtain the hydrodynamic force equation of the HTAUV, which relates to the deflection angle of the elevator. Through the motion simulation of the HTAUV, under the same net buoyancy condition, notable differences emerge when the elevator is deflected. Specifically, parameters such as gliding speed, gliding angle, and pitch angle of the HTAUV are larger when the elevator is deflected, as compared to cases where no deflection is applied.

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“…Many optimization designs for UGs have been proposed in various fields, such as hydrodynamic shape [15], pressure hull [16], and control parameters [17]. A study also uses back-stepping technology and direct adaptive control for UG pitch control [18]. Multidisciplinary design optimization (MDO) was applied to realize multidisciplinary co-optimization in UG systems, a preliminary applied study of model-based systems engineering (MBSE) [19,20].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the High-Speed Underwater Glider with a Bladder-Type Buoyancy Engine

Ji,

Lee,

et al. 2023

Applied Sciences

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This study entailed the design and analysis of a 400 m class underwater glider operated by a bladder-type buoyancy engine. The underwater glider was designed for high-speed movement with a maximum velocity of 2 knots. The shape of the hull was designed to reduce water resistance using the Myring hull profile equation. The reliability was verified by performing simulations using resistance coefficients. The relationship between the control value of the ballast discharged from the buoyancy engine and the glider’s speed according to the path angle was analyzed. Further, the relationship between the optimal glide angle and the design control value of the ballast was derived, and the optimal glider speed was estimated accordingly. Based on the analysis results, a bladder-type buoyancy engine was developed, and the maximum speed of the tested underwater glider was measured via sea trials.

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Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane

Cited by 9 publications

References 14 publications

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Design and Motion Simulation of an Underwater Glider in the Vertical Plane

Simulation Study on a New Hybrid Autonomous Underwater Vehicle with Elevators

Design and Analysis of the High-Speed Underwater Glider with a Bladder-Type Buoyancy Engine

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