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| Content Provider | CSIR - National Institute of Science Communication and Policy Research (NISCPR) |
|---|---|
| Author | Maimun, Adi Ullah, Barkat Javaid, Muhammad Yasar Hashim, Fakhruldin B. M. Ovinis, Mark Thirumalaiswamy, Nagarajan |
| 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. |
| Ending Page | 1936 |
| Starting Page | 1928 |
| ISSN | 03795136 |
| e-ISSN | 09751033 |
| Journal | Indian Journal of Geo-Marine Sciences (IJMS) |
| Issue Number | 12 |
| Volume Number | 44 |
| Language | English |
| Publisher | CSIR-NISCAIR, India |
| Publisher Date | 2015-12-01 |
| Access Restriction | Open |
| Subject Keyword | Underwater Glider Spiral motion Dynamic model Dynamic stability |
| Content Type | Text |
| Resource Type | Article |
| Subject | Oceanography |
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