Modeling and Simulation of A Novel Autonomous Underwater Vehicle with Glider and Flapping-Foil Propulsion Capabilities

• Published in: China ocean engineering 2012-12, Vol.26 (4), p.603-622
• Main Author: 田文龙 宋保维 杜晓旭 毛昭勇 丁浩
• Format: Article
• Language: English
• Subjects: Coastal Sciences; Computer simulation; Engineering; Fluid- and Aerodynamics; Gliders; Hydrofoils; Marine; Marine & Freshwater Sciences; Mathematical models; Numerical and Computational Physics; Oceanography; Offshore Engineering; Propulsion; Rigid-body dynamics; Simulation; Turning; Vehicles; 三维数学模型; 仿真; 建模; 推进能力; 滑翔机; 独立控制; 自主水下航行器; 转弯半径
• ISSN: 0890-5487; 2191-8945
• DOI: 10.1007/s13344-012-0046-9

HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes： glider mode and flapping-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of the conceptual vehicle was developed on the assumption that HAISHEN has a rigid body with two independently controlled oscillating hydrofoils. A flapping-foil model was developed based on the work done by Georgiades et al. （2009）. Effect of controllable hydrofoils on the vehicle stable motion performance was studied theoretically. Finally, a dynamics simulation of the vehicle in both operating modes is created in this paper. The simulation demonstrates that： （1） in the glider mode, owing to the independent control of the pitch angle of each hydrofoil, HAISHEN travels faster and more efficiently and has a smaller turning radius than conventional fix-winged gliders; （2） in the flapping-foil propulsion mode, HAISHEN has a high maneuverability with a turning radius smaller than 15 m and a forward motion velocity about 1.8 m/s; （3） the vehicle is stable under all expected operating conditions.