Dynamic Model And Simulation Study Based On The Wave Glider

The wave glider is a new unmanned autonomous ocean observation apparatus, whichconsists of the water surface floatation, the underwater gliding body and the flexible cable. Themotion principle of the wave glider is to directly transfer the wave energy difference what iscreated by the amplitude difference of the wave between the surface and the deep water particleto the forward kinetic energy for the wave glider. And, it belongs to the creative equipment byusing the ocean energy, which possesses the vital research meaning and the application value inboth areas of civilian and military.The wave glider is a micro-dynamic system. Based on the theory of the Airymicro-amplitude wave and aimed at properly and efficiently using the wave energy, the totalshape parameters of the wave glider are identified via the quantization analysis of thepropulsion of the wave glider, which combine with the typical wave length of the sea. The fluidline designs of the water surface floatation and the underwater gliding body are given.Moreover, the dynamic stability of the water surface floatation is studied by analyzing thedynamic flow and the effect on the fluid character of the underwater gliding body by the profileand pair number of the wing plate is studied as well, which is certified that the structure designof the wave glider meets the requirement of the low resistance and the high stability.To predict the motion performance of the wave glider, the modeling and motion simulationanalysis are implemented by the method of combining the ADAMS model and MATLABmodel. Other than the conventional surface ship or the underwater vehicle, it can be seen as amulti-body structure that consists of the water ship and the underwater gliding body. Therefore,the process of modeling and analyzing is more complex than the water ship and the underwatergliding body. Based on the definite input and the terminal condition, the total model of the waveglider is set via modeling the mathematic models of the water surface floatation, the underwatergliding body and the connection cable respectively, which also draws support from the coalitionanalysis and calculation with the multi-dynamic analysis software ADAMS and the mathematiccalculation software MATLAB.Based on the coalition simulation model of the wave glider, the cable length and the wing pair number of the wave glider is calculated, analyzed and preferentially selected. Eventually,the motion feasibility of the wave glider under the first-order oceanic condition is studied,which the navigation performance under the conventional third-order oceanic condition and thesurvival ability under the extreme ninth-order oceanic condition are studied as well. Then, theanalysis result is shown that it is feasible for the total design of the wave glider, and the resultalso can guide the engineering design of the wave glider.