Theoretical and experimental study of anti-helical motion for underwater glider. (October 2016)

• Record Type: Journal Article
• Authors: Liu, You; Shen, Qing; Ma, Dongli; Yuan, Xiangjiang
• Is Part Of: Applied ocean research. Volume 60(2017:Mar.)
• Page Start: 121
• Page End: 140
• Publication Date: 2016-10
• Subjects: AUG -- Anti-helical motion -- Nonlinear equilibrium equations -- Hydrodynamic coefficient -- Experimental validation; Ocean engineering -- Periodicals; 620.416205
• DOI: 10.1016/j.apor.2016.09.001
• Languages: English
• ISSNs: 0141-1187

Abstract

Highlights: Anti-helical motion for underwater glider is confirmed by experiment. A proper physical model is built to describe anti-helical motion at steady state. The relationship between control variables (CG location) and motion features is analyzed. The root cause causing anti-helical motion is explained. The main theoretical conclusions are validated by experiments. Abstract: It is confirmed by our experiments that a new pattern of helical motion called anti-helical motion exists for autonomous underwater glider (AUG). Unlike traditional one, this type has its own characteristics. By solving the nonlinear equilibrium equations, we have analyzed the relationship between control variable (CG location) and the anti-helical motion characteristics at steady state. Theoretical research proves that hydrodynamic forces play a critical role in determining this motion style. The main theoretical conclusions are validated by experimental results at last.