Optimizing & Kinetic Study Of Underwater Glider

Underwater glider is a new type of autonomous underwater vehicle that can glide by controlling its buoyancy and attitude from internal actuators. With fixed wings and tails, glider can travel from place to place by concatenating a series of upwards and downwards glides. Typical glider motions include upwards and downwards straight gliding in a saw-tooth pattern, turning and gliding in a vertical spiral.Based on previous result of our project group, this study concentrated on the optimization of the crust and the roll system. Generally, glider is driven by its limited net buoyancy, so the main body must be optimized to reduce the drag force as well as to offer enough space. In this study, the wings were designed to offer more lift-drag ratio to improve the efficiency of the glider. The vehicle can turn and glide in a vertical spiral with the cooperation of the roll system and pitch system. The mechanical structure of the roll system was designed to adapt the existing module and the roll system was designed to be controlled by a compass feedback system.We have modeled one sample gilder after it was assembled. The basic assumption is that when the glider is moving steadily, the hydrodynamics (lift, drag, moment) should be equal to the net buoyancy and gravity moment. Based on the emulating of the software of Fluent for the hydrodynamics (lift, drag, moment) in different velocity and attack, the relationship between the hydrodynamics (lift, drag, moment) and state variables (velocity and attack) was established. Finally we obtained the relationship between the output variables (velocity, pitch, attack and yaw) and input variables (net buoyancy and gravity displacement). This kinetic model advanced this research a lot especially in the design of control system of the glider.Glider is attractive instrument in sea exploration due to its low cost, low noise, autonomy, and capability for long-range, extended-duration deployments. After the modification, it can be used in military scout, resource detecting, environment surveillance, species observation and so on by attaching different sensors.