Dynamics modeling of an unmanned wave glider with flexible umbilical. (15th May 2019)

• Record Type: Journal Article
• Authors: Wang, Leifeng; Li, Ye; Liao, Yulei; Pan, Kaiwen; Zhang, Weixin
• Is Part Of: Ocean engineering. Volume 180(2019)
• Page Start: 267
• Page End: 278
• Publication Date: 2019-05-15
• Subjects: Unmanned wave glider -- Dynamic model -- Flexible umbilical -- Motion simulation; UWG unmanned wave glider -- DOF degree of freedom -- float surface float body -- glider submerged glider; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2019.03.047
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: Unmanned wave gliders (UWGs) are a new type of wave-powered unmanned marine vehicle for persistent ocean environmental monitoring. The present paper proposed the dynamic model of a UWG by considering the influences of the flexibility of the umbilical. The dynamic models of surface float body (float) and submerged glider (glider) with slack umbilical were first separately established, and subsequently, the dynamic model of the UWG was formulated when the umbilical was under tension. Furthermore, the judgment principle and the state transfer problem in the switching process were analyzed, and numerical simulations of longitudinal and rotary motions of the UWG were performed. The established dynamic model was found to be reasonable to reflect the dynamic characteristics of the UWG with flexible umbilical. Highlights: The umbilical is treated as a soft rope but not a rigid rod in the dynamic model of UWG. The umbilical easily became slack when the wave surface fell rapidly under high wave conditions. The influence of the flexibility of the umbilical on UWG is considerable. UWG has unique dynamic characteristics due to the unique structure.