Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the ch...Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.展开更多
In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict pla...In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict planing craft motion and carried out the numerical simulation experiment. According to the characteristics of planing craft motion, a recurrence formula was proposed of the parameter matrix of an MGMfl,N） model. Using this formula, data can be updated in real-time without increasing computational complexity significantly. The results of numerical simulation show that using an MGM（1,N） model to predict planing motion is feasible and useful for prediction. So the method proposed in this study can reflect the planing craft motion mechanism successfully, and has rational and effective functions of forecasting and analyzing trends.展开更多
文摘Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
基金Supported by the Foundation of State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering Universitythe Fundamental Research Funds for the Central Universities (HEUCFL20101113)
文摘In order to minimize the harm caused by the instability of a planing craft, a motion prediction model is essential. This paper analyzed the feasibility of using an MGM（1,N） model in grey system theory to predict planing craft motion and carried out the numerical simulation experiment. According to the characteristics of planing craft motion, a recurrence formula was proposed of the parameter matrix of an MGMfl,N） model. Using this formula, data can be updated in real-time without increasing computational complexity significantly. The results of numerical simulation show that using an MGM（1,N） model to predict planing motion is feasible and useful for prediction. So the method proposed in this study can reflect the planing craft motion mechanism successfully, and has rational and effective functions of forecasting and analyzing trends.
