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Dynamics Modeling and Behavior Analysis of Underwater Glider System

  • Nam, Keon-Seok (Division of Marine Equipment Engineering, Korea Maritime and Ocean University) ;
  • Kim, Donghee (Division of Mechanical and Energy Systems Engineering, Korea Maritime University) ;
  • Choi, Hyeung-Sik (Division of Mechanical and Energy Systems Engineering, Korea Maritime and Ocean University) ;
  • Lee, Shin-je (Maritime Security Research Center, Korea Institute of Ocean Science & Technology) ;
  • Kim, Joon-Young (Division of Marine Equipment Engineering, Korea Maritime and Ocean University)
  • Received : 2016.12.01
  • Accepted : 2017.02.08
  • Published : 2017.03.31

Abstract

Generally, underwater gliders do not have separate propellers for their forward movement. They derive a propulsive force due to the difference between their buoyancy and gravity. The attitude of an underwater glider is controlled by changing the relative position of the buoyancy center and mass center. In this study, we derived nonlinear 6-DOF dynamic and mathematical models for the motion controller and buoyancy controller. Using these equations, we performed dynamic underwater glider simulations and verified the suitability of the design and dynamic performance of the proposed underwater glider.

Keywords

Acknowledgement

Supported by : ADD (Agency for Defence Development)

References

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