Dynamic Modeling And Kinematic Analysis Of Wave Glider

The wave glider is a new type of ocean observation vehicle,which consists of water surface floating body and underwater glider connected by ropes.It transforms the undulating motion of the wave into the forward motion of the wave glider by a simple mechanical structure,and solves the disadvantages of the traditional marine monitoring equipment that needs to bring its own energy.The model has the advantages of high endurance and strong environmental adaptability,and can realize long time and large range observation tasks for different sea states.Firstly,the composition of the wave glider is introduced,and the design requirements of the floating body,the underwater glider and the rope are put forward.Based on wave theory,the motion principle of double structure of wave glider is analyzed.Secondly,the dynamic model of the wave glider is established by Kane method.By choosing the appropriate coordinate system and the coordinate of the moving coordinate system,the kinematics of the multi body system of the wave glider is analyzed,and the partial velocity and the angular velocity are calculated.In the force analysis,considering the inertia force,gravity,buoyancy and hydrodynamics,generalized active force and generalized inertia force calculation formula,the results obtained by Kane equation,the dynamics model of wave glider.The dynamic model can be used to obtain the driving speed of the wave glider,which provides the theoretical basis for the following simulation analysis.Finally,the frequency and time domain analysis of the wave glider.Using the frequency domain module of hydrodynamic software,the variation trend of the motion response amplitude operator of the wave glider in the frequency domain is studied,and the variation of the additional mass and the radiation damping of the surface float and the wave glider with the frequency are studied.On the basis of frequency domain calculation,the motion response of the wave glider is analyzed by time domain model.The main research of the water floating body heave and pitch curve of amplitude,and the influence of regular wave length and amplitude on the heave amplitude,the pitching angle,thrust value and velocity of the wave glider,and the variation trend of the parameters under a series of wavelengths and amplitudes is obtained.The navigation performance of the wave glider under different wave conditions is determined,which lays the foundation for further study.