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Title: Dynamic Motion Analysis of a Newly Developed Autonomous Underwater Glider with Rectangular and Tapered Wing
Authors: Javaid, Muhammad Yasar
Ovinis, Mark
Thirumalaiswamy, Nagarajan
Hashim, Fakhruldin B M
Maimun, Adi
Ullah, Barkat
Keywords: Underwater glider;Dynamic model;Spiral motion;Dynamic stability
Issue Date: Dec-2015
Publisher: NISCAIR-CSIR, India
Abstract: An autonomous underwater glider (AUG) is a self-propelled vehicle whose motion is controlled by shifting its centre of buoyancy and gravity with wings to convert vertical motion into horizontal motion. In this paper, the dynamic motion of a newly developed AUG, including a spiral motion, with rectangular and tapered wing is analysed. The dynamics of the glider, including its hydrodynamic derivatives, is modelled based on the Newton-Euler approach. This model is subsequently used, with a linear quadratic regulator (LQR) control technique, to analyse the glider motion along the sagittal plane, its steady state spiral gliding motion in the vertical plane, and its stability. Results show that the glider has a stable dynamic response and a satisfactory glide performance. Specifically, the external control surface i.e. wings, influence the linear velocity and steady turning radius of glider. Furthermore, it was found that the rectangular winged glider has more dynamic stability because of a higher pitch moment. Additionally, a rectangular winged glider has a smaller spiral turning radius i.e. better manoeuvrability.
Page(s): 1928-1936
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.44(12) [December 2015]

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