Modeling and performance analysis of underwater gliders based on the virtual prototype technology

Abstract

An underwater glider often comprises a buoyancy propulsion system, attitude regulation system, control system, hydrodynamic shape, etc. Numerous dynamic models based on rigid body dynamics have been established to study the motion performance of underwater gliders, which often neglect their attitude regulation and control systems. In this paper, a virtual prototype model of underwater gliders is developed based on the virtual prototype technology and verified by sea trials. Using the virtual model developed, the effects of three different control strategies and passive accumulators on underwater glider motion performance are discussed. The results demonstrate the feasibility of the virtual prototype model for motion performance analysis and control strategy optimization instead of the physical prototype. Thus, the proposed model could cut down the research and design time and reduce design costs.