Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism
文献类型：会议论文
| 作者 | Chen ZE(陈质二); Tian BQ(田宝强); Yu JC(俞建成) ; Zhang AQ(张艾群); Zeng JB(曾俊宝)
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| 出版日期 | 2014 |
| 会议名称 | OCEANS 2014 MTS/IEEE Taipe |
| 会议日期 | April 7-10, 2014 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | model hydrodynamic underwater glider hybrid driven folding |
| 页码 | 1-6 |
| 中文摘要 | This paper proposes a new approach for the description of three-dimensional motion characteristics of a hybrid-driven underwater glider (HDUG) based on a folding propulsion mechanism. HDUGs have both the high endurance of propeller-driven autonomous underwater vehicles (AUVs) and the high mobility of buoyancy-driven underwater gliders (AUGs). We use Lagrange method build a 3D hydrodynamic model for the hybrid-driven underwater glider. Then we built a hydrodynamic model for the folding propulsion mechanism in different working conditions. And we analyze the motion characteristics of the HDUG in propeller-driven mode, buoyancy-driven mode, and hybrid-driven mode respectively. Simulation results show that in buoyancy-driven mode the HDUG has better gliding performance for propeller blades folding than that for unfolding. The maneuverability of HDUG has been improved due to the folding propulsion mechanism. The HDUG is stable in all expectation state. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | OCEANS 2014 MTS/IEEE Taipe
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3646-5 |
| 源URL | [http://ir.sia.cn/handle/173321/15321]  |
| 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 | Chen ZE,Tian BQ,Yu JC,et al. Study on the motion characteristics in 3D space for a hybrid-driven underwater glider based on a folding propulsion mechanism[C]. 见:OCEANS 2014 MTS/IEEE Taipe. Taipei, Taiwan. April 7-10, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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