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Thermal glider is a new type of underwater glider which harvests its propulsive energy from the thermocline in the ocean. Compared with traditional electric underwater glider, the thermal glider may achieve a much longer duration and range. The heat exchangers on the underwater glider can be mounted above the hull, below the hull, and by the sides of the hull. In this paper, hydrodynamic analysis...
A hybrid underwater glider Petrel-II is presented in this paper. It combines behaviors of traditional autonomous underwater vehicle and those of autonomous underwater gliders. It can dive along a saw-tooth trajectory in the gliding mode and autonomously cruise in the level-flight mode. It is characterized by long endurance, long fight range, high cost efficiency, and good maneuverability. The hydrodynamic...
Depth parking control is important for the HTPE (HydroThermal Plume Explorer). It aims to have a more accurate parking depth and a less oscillation at the target depth. The plant approaching and motion forecasting model based on RBF neural network is built to self-adjust and approach online motion law of HTPE in ideal circumstance of the sea, and simulate output of given control quantity after an...
Shear probe can be used to measure ocean turbulence. In order to acquire weak signal produced by shear probe, two DAQ systems are designed. One is VI system, and the other is MCU system. The VI system which is used in lab is programmed by LabVIEW. The system is precise and flexible. In order to compare performances of different shear probes, coherence processing program is developed. Experiment in...
The linear quadratic regulator for the underwater glider is designed, and the motion path of the feedback control system in ocean vertical plane is studied. First, changes of the trajectory path when the glider is in steady moving are tested in this paper. Then, according to the fact that the glider needs sharp turning, two kinds of control strategies are studied. From the contrastive analysis, we...
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