Abstract
Hybrid-driven underwater glider is a new kind of unmanned platform for water quality monitoring. It has advantages such as high controllability and maneuverability, low cost, easy operation, and ability to carry multiple sensors. This article develops a hybrid-driven underwater glider, PETRELII, and integrates a water quality monitoring sensor. Considering stability and economy, an optimal layout scheme is selected from four candidates by simulation using computational fluid dynamics method. Trials were carried out in Danjiangkou Reservoir—important headwaters of the Middle Route of the South-to-North Water Diversion Project. In the trials, a monitoring strategy with polygonal mixed-motion was adopted to make full use of the advantages of the unmanned platform. The measuring data, including temperature, dissolved oxygen, conductivity, pH, turbidity, chlorophyll, and ammonia nitrogen, are obtained. These data validate the practicability of the theoretical layout obtained using computational fluid dynamics method and the practical performance of PETRELII with sensor.
Highlights
The Middle Route of the South-to-North Water Diversion Project (SNWDP) is beneficial to a population of 60 million in Beijing, Tianjin, Hebei, and Henan Province
The lift–drag ratio K23 given by equation (9) is adopted as an evaluating index of economy of the hybrid-driven underwater glider (HUG)
According to the analysis of stability and economy, the HUG has better hydrodynamics when the sensor is near the end and near the buoyancy center
Summary
The Middle Route of the South-to-North Water Diversion Project (SNWDP) is beneficial to a population of 60 million in Beijing, Tianjin, Hebei, and Henan Province. The lift, drag, and pitching torque on the HUG in different layout schemes at different attack angles are analyzed using CFD method in this article.[19] Factors that affect the computational accuracy include the shape of the physical geometry model, the quality of meshing, selection of simulation parameters, and setting of boundary conditions.[20] Some parameters are set as follows. In order to analyze economy and static stability, hydrodynamic parameters for different layout schemes, such as the lift force coefficient CL, the drag force coefficient CD, and the pitching torque coefficient CN, are obtained using CFD simulation. Schemes ‘‘a,’’ ‘‘c,’’ and ‘‘b.’’ In conclusion, schemes ‘‘a’’ and ‘‘d’’ have the best static stability
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