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On-line Access: 2013-08-02

Received: 2013-01-02

Revision Accepted: 2013-04-11

Crosschecked: 2013-07-12

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Journal of Zhejiang University SCIENCE C 2013 Vol.14 No.8 P.583-599


Underwater glider design based on dynamic model analysis and prototype development

Author(s):  Shuang-shuang Fan, Can-jun Yang, Shi-lin Peng, Kai-hu Li, Yu Xie, Shao-yong Zhang

Affiliation(s):  The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   fanshuangshuang@163.com, ycj@zju.edu.cn

Key Words:  Underwater glider design, Equilibrium, Stability, Pressure test, Pool trial

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Shuang-shuang Fan, Can-jun Yang, Shi-lin Peng, Kai-hu Li, Yu Xie, Shao-yong Zhang. Underwater glider design based on dynamic model analysis and prototype development[J]. Journal of Zhejiang University Science C, 2013, 14(8): 583-599.

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journal="Journal of Zhejiang University Science C",
publisher="Zhejiang University Press & Springer",

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%T Underwater glider design based on dynamic model analysis and prototype development
%A Shuang-shuang Fan
%A Can-jun Yang
%A Shi-lin Peng
%A Kai-hu Li
%A Yu Xie
%A Shao-yong Zhang
%J Journal of Zhejiang University SCIENCE C
%V 14
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%P 583-599
%@ 1869-1951
%D 2013
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1300001

T1 - Underwater glider design based on dynamic model analysis and prototype development
A1 - Shuang-shuang Fan
A1 - Can-jun Yang
A1 - Shi-lin Peng
A1 - Kai-hu Li
A1 - Yu Xie
A1 - Shao-yong Zhang
J0 - Journal of Zhejiang University Science C
VL - 14
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SP - 583
EP - 599
%@ 1869-1951
Y1 - 2013
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.C1300001

Underwater gliders are efficient mobile sensor platforms that can be deployed for months at a time, traveling thousands of kilometers. Here, we describe our development of a coastal 200 m deep underwater glider, which can serve as an ocean observatory platform operating in the East China Sea. Our glider is developed based on dynamic model analysis: steady flight equilibrium analysis gives the varied range of moving mass location for pitch control and the varied vehicle volume for buoyancy control; a stability analysis is made to discuss the relationship between the stability of glider motion and the location of glider wings and rudder by root locus investigation of glider longitudinal- and lateral-directional dynamics, respectively. There is a tradeoff between glider motion stability and control authority according to the specific glider mission requirements. The theoretical analysis provides guidelines for vehicle design, based on which we present the development progress of the Zhejiang University (ZJU) glider. The mechanical, electrical, and software design of the glider is discussed in detail. The performances of glider key functional modules are validated by pressure tests individually; preliminary pool trials of the ZJU glider are also introduced, indicating that our glider functions well in water and can serve as a sensor platform for ocean sampling.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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