Abstract
In this paper, we present a study of an underwater glider with a cylindrical body, a conical end shape and a spherical nose with NACA0009 airfoil wings. In the experimental section, we investigate the hydrodynamic coefficients of drag and lift as well as the torque on the glider then analyze the launch velocity, launch angles, angular velocity, and displacement range as the main parameters for evaluating of motion dynamics. In the numerical section, we investigate the optimal performance of the glider using the meta-heuristic optimization method in order to find the path and range of motion of the moving mass and control of the sea glider, which is very important for navigation scope. To be specific, body and wings hydrodynamic coefficients are obtained in the velocity range of [0.2, 1] m/s; According to the results, the drag coefficient increases with increasing velocity, while the lift coefficient increases up to velocity of 0.8 m/s, then decreases at velocity of 1 m/s. Also, the wing drag coefficient decreases with increasing velocity, while the wing lift coefficient increases with increasing velocity. In the next step, in order to calculate an optimum ratio between obtained depth and horizontal distance, the designed algorithm investigate the glider launch angle and finally, the 10 degrees launch angle is chosen as the optimum angle. Subsequently, the analysis performed on mass center displacement range shows that the oscillation interval [- 0.045, 0.085] m is an optimum displacement domain.
Highlights
The exploitation of the oceans and seas is of great importance in today’s world in terms of transportation, trade, food and pharmaceutical resources, mineral resources and coastal security [1]
First, based on the data obtained from the tests, the hydrodynamic coefficients are calculated; the results related to the dynamic modeling of the glider movement and the results of optimization will be presented
Experimental results showed that with increasing glider velocity, the drag coefficient of whole body of glider increases and the maximum value occurs at velocity of 1 m∕s, the lift coefficient increases up to the velocity of 0.8 m/s and decreases
Summary
The exploitation of the oceans and seas is of great importance in today’s world in terms of transportation, trade, food and pharmaceutical resources, mineral resources and coastal security [1]. Underwater glider vehicles are widely used in the monitoring, exploring and studying oceans as well as the understanding of global oceanographic phenomena. According to studies on the development of research activities in the field of underwater gliders, topics such as feasibility of designing and developing an underwater gliders for various missions in maritime units, design of exterior body, implementation of automated control systems, design of propulsion systems [8,9,10], as well as diving and heaving, extracting and recording sea-level data, identifying and monitoring the operations environment [11], performing rescue operations and tracking systems are always a concern [4,5,6,7,8]. Parsons et al [12] are among the first to study the geometrical shape parameters of a body in 1974 and its effect on reducing drag force in an incompressible flow. The purpose of their study was to design the axisymmetric body shape with the least drag force. One of the most important results of their work was the definition of hydrodynamic characteristics for body design
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