Kinematic Analysis And Simulation Of Shallow Marine Composite Driving Underwater Glider

As a new unmanned autonomous underwater robot, with both the advantages of underwater vehicle(AUV)(autonomous underwater vehicle(AUV) and underwater glider(autonomous underwater glider, referred to as AUG) technology unmanned or autonomous underwater robot, shallow sea hybrid-driven underwater glider not only can achieve continuous real-time observation in a large scale in the wide ocean for long time, but also can implement precise search in specific target points of an area.According to the request of large scale and long-time ocean observations, the hydro-resistance of the shallow sea hybrid-driven underwater glider has to be as low as possible to improve energy utilization and prolong time of energy supply; Precision surveying in specific areas requires maneuverability and a certain velocity of the underwater glider to meet the needs of missions. Special multi-task requirements determines the neritic hybrid-driven underwater glider can not only complete a long-time low-speed profiling motion through the buoyancy driven way, but also realize depth keeping search and rapid mobility tasks by startup of propeller driven.To predict the performance of the underwater glider operating in the above two working mode, firstly this article built complete kinetic models based on the existing “Sun Glider 200”, and accomplished typical dynamic simulations under different operating modes by building mathematical models with MATLAB. Then, since the underwater glider stays in a uniform and steady motion most of the operation time, and to specifically analyze the effect of motion-controlled configuration on the steady motion of the underwater glider, the virtual 3D dynamics simulation platform would be built based on the hypothetical of steady motion by utilizing Lab VIEW 3D picture modular and Solid Works software. On the basis of the Output Curves, virtual vision technology is used to display the motion changes with the variety control parameters vividly and intuitively, thus the engineers can understand the operation modes of the underwater glider better, and then can improve the system performance continuously. In the end, the validity of this simulation is verified by the experiments in test pool, lake and ocean.