Journal
OCEAN ENGINEERING
Volume 180, Issue -, Pages 267-278Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.03.047
Keywords
Unmanned wave glider; Dynamic model; Flexible umbilical; Motion simulation
Funding
- National Key RAMP
- D Program of China [2017YFC0305700]
- National Natural Science Foundation of China [51779052, 51879057, U1806228]
- Natural Science Foundation of Heilongjiang Province of China [QC2016062]
- Heilongjiang Postdoctoral Funds for Scientific Research Initiation [LBH-Q17046]
- Fundamental Research Funds for the Central Universities [HEUCFP201741, HEUCFG201810]
- Qingdao National Laboratory for Marine Science and Technology [QNLM2016ORP0406]
- Research Fund from Science and Technology on Underwater Vehicle Laboratory [6142215180102, 614221503091701]
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Unmanned wave gliders (UWGs) are a new type of wave-powered unmanned marine vehicle for persistent ocean environmental monitoring. The present paper proposed the dynamic model of a UWG by considering the influences of the flexibility of the umbilical. The dynamic models of surface float body (float) and submerged glider (glider) with slack umbilical were first separately established, and subsequently, the dynamic model of the UWG was formulated when the umbilical was under tension. Furthermore, the judgment principle and the state transfer problem in the switching process were analyzed, and numerical simulations of longitudinal and rotary motions of the UWG were performed. The established dynamic model was found to be reasonable to reflect the dynamic characteristics of the UWG with flexible umbilical.
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