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Spiraling motion of underwater gliders: Modeling, analysis, and experimental results
文献类型：期刊论文
| 作者 | Zhang SW(张少伟) ; Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民)
|
| 刊名 | Ocean Engineering
 |
| 出版日期 | 2013 |
| 卷号 | 60期号:0页码:1-13 |
| 关键词 | Algorithms Computational fluid dynamics Dynamics Ocean currents Sailing vessels |
| ISSN号 | 0029-8018 |
| 产权排序 | 1 |
| 通讯作者 | 张福民 |
| 中文摘要 | This paper presents a thorough approach characterizing the spiraling motion of underwater gliders. The dynamic model for underwater gliders, steered by a single internal movable and rotatable mass, is established. Spiraling motions are equilibria of the dynamics, for which equations are derived and then solved by a recursive algorithm with fast convergence. This theoretical method is applied to the Seawing underwater glider whose hydrodynamic coefficients are computed using computational fluid dynamics (CFD) software packages. In a recent experiment in the South China Sea, the Seawing glider produced a spiraling motion against strong ocean current, agreeing with theoretical predictions. Hence the recursive algorithm may be used to compute control input to achieve desired spiraling motion for underwater gliders in practice. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography |
| 研究领域[WOS] | Engineering ; Oceanography |
| 关键词[WOS] | COORDINATED CONTROL ; SIMULATION ; BUOYANCY ; VEHICLES ; ENERGY ; SYSTEM |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000317087800001 |
| 公开日期 | 2013-04-21 |
| 源URL | [http://ir.sia.cn/handle/173321/10555]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhang SW,Yu JC,Zhang AQ,et al. Spiraling motion of underwater gliders: Modeling, analysis, and experimental results[J]. Ocean Engineering,2013,60(0):1-13. |
| APA | Zhang SW,Yu JC,Zhang AQ,&Zhang FM.(2013).Spiraling motion of underwater gliders: Modeling, analysis, and experimental results.Ocean Engineering,60(0),1-13. |
| MLA | Zhang SW,et al."Spiraling motion of underwater gliders: Modeling, analysis, and experimental results".Ocean Engineering 60.0(2013):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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