Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II

• Published in: China ocean engineering 2017-03, Vol.31 (1), p.55-62
• Main Authors: Liu, Fang, Wang, Yan-hui, Wu, Zhi-liang, Wang, Shu-xin
• Format: Article
• Language: English
• Subjects: Angular momentum; Buoyancy; Coastal Sciences; Computer simulation; Deep sea; Deep sea environments; Economic models; Engineering; Fluid- and Aerodynamics; Gliding; Marine & Freshwater Sciences; Marine environment; Momentum; Movement; Numerical and Computational Physics; Ocean currents; Oceanography; Offshore Engineering; Optimization; Seabirds; Simulation; Three dimensional models; Underwater gliders; Underwater vehicles; Water depth; 水下; 浮力驱动; 海燕; 深海; 混合; 滑翔机; 现场试验; 运动分析
• ISSN: 0890-5487; 2191-8945
• DOI: 10.1007/s13344-017-0007-4

A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.