Stability Analysis of Hybrid-Driven Underwater Glider

摘要

Hybrid-driven underwater glider is a new type of unmanned underwater vehicle,which combines the advantages of autonomous underwater vehicles and traditional underwater gliders.The autonomous underwater vehicles have good maneuverability and can travel with a high speed,while the traditional underwater gliders are highlighted by low power consumption,long voyage,long endurance and good stealth characteristics.The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems.Stability of the mechanical system determines the performance of the system.In this paper,the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced.The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working.Then,the steady speed and steady glide path angle under steady-state motion have also been achieved.The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion.And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function.By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider,the simulation analysis has been conducted.In addition,the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation,and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.