Underwater Glider Modelling And Analysis For Variable Control Parameters
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Date
2014-01
Authors
Ali Hussain, Nur Afande
Journal Title
Journal ISSN
Volume Title
Publisher
Universiti Sains Malaysia
Abstract
Underwater glider is a type of autonomous underwater vehicle that can glide by
controlling their buoyancy and attitude using internal actuators. By changing the
vehicle’s buoyancy intermittently, forward motion can be achieved. Deriving the
mathematical model directly from the system can be too complicated due to time
constraints in prototyping development processes. This thesis presents the early
development of the USM underwater glider platform consist of prototype development
involves vehicle concept design using SolidworksTM, vehicle simulations by
Computational Fluid Dynamics (CFD) and alternative way of modelling known as
system identification in order to obtain the underwater glider system model. The
appropriate control parameters for underwater glider control were determined by
selecting the ballast rate as the input. Three aspects of the dynamics of a glider will be
observed, i.e. net buoyancy, depth of the glider and pitching angle. The best three
parametric models that are able to estimate the system correctly are chosen, and the fit
between measured and estimated outputs is presented in order to get an optimal
underwater glider vehicle model for USM underwater glider platform.
Description
Keywords
Underwater Glider , Variable Control