TY - GEN
T1 - A newly hybrid-driven underwater robot design, dynamic motion analysis and hydrodynamic estimation
AU - Wang, Jinqiang
AU - Wang, Cong
AU - Wei, Yingjie
AU - Zhang, Chengju
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/13
Y1 - 2018/6/13
N2 - In order to improve the comprehensive properties of underwater vehicle, a hybrid-driven flying wing underwater glider has been developed in this paper. The SST-kω(Shear Stress Transmission) based on software Openfoam was used to investigate the hydrodynamics of the glider, and the simulation results fit well with the experiment data. The numerical results indicated that the glider's drag and lift coefficients decreased, and their reducing rates decreased as well when the velocity increased. When the attack angle increased, the drag and lift coefficients increased, and the glider's lift drag ratio first increased and then decreased. The maximum lift drag ratio occurred with the attack angle between 10 deg to 14 deg. In addition, the dynamics of the model with considering velocities of the sliding masses and ballast pump system mass has been presented, and the motion simulation results fit well with the experiment data, which demonstrated the accuracy of dynamic model.
AB - In order to improve the comprehensive properties of underwater vehicle, a hybrid-driven flying wing underwater glider has been developed in this paper. The SST-kω(Shear Stress Transmission) based on software Openfoam was used to investigate the hydrodynamics of the glider, and the simulation results fit well with the experiment data. The numerical results indicated that the glider's drag and lift coefficients decreased, and their reducing rates decreased as well when the velocity increased. When the attack angle increased, the drag and lift coefficients increased, and the glider's lift drag ratio first increased and then decreased. The maximum lift drag ratio occurred with the attack angle between 10 deg to 14 deg. In addition, the dynamics of the model with considering velocities of the sliding masses and ballast pump system mass has been presented, and the motion simulation results fit well with the experiment data, which demonstrated the accuracy of dynamic model.
KW - flying wing
KW - hybrid-driven
KW - hydrodynamics
KW - motion characteristics
KW - underwater glider
UR - https://www.scopus.com/pages/publications/85049904230
U2 - 10.1109/ICCAR.2018.8384719
DO - 10.1109/ICCAR.2018.8384719
M3 - 会议稿件
AN - SCOPUS:85049904230
T3 - Proceedings - 2018 4th International Conference on Control, Automation and Robotics, ICCAR 2018
SP - 456
EP - 459
BT - Proceedings - 2018 4th International Conference on Control, Automation and Robotics, ICCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Control, Automation and Robotics, ICCAR 2018
Y2 - 20 April 2018 through 23 April 2018
ER -