Dynamic Modelling and Experimental Results of a Ray-Type Hybrid Underwater Glider with a Dualbuoyancy Engine

Authors

Ngoc-Duc Nguyen, Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Seoul, South Korea
Hyeung-Sik Choi, Department of Mechanical Engineering, Korea Maritime and Ocean University, Busan, South KoreaFollow
Sung-Wook Lee, Department of Naval Architecture and Ocean System Engineering, Korea Maritime and Ocean University, Busan, South Korea
Wen-Hsiang Hsieh, Department of Automation, National Formosa University, Taiwan.
Sang-Ki Jeong, Maritime ICT R&D Center, Korea Institute of Ocean Science & Technology, Busan, Korea
Dae-Hyeong Ji, Marine Security and Safety Research Center, Korea Institute of Ocean Science & Technology, Busan, South Korea.

Abstract

For ocean observation and exploration, underwater gliders (UG) have shown their efficient long-range operation with buoyancy propulsion. The current Torpedo-shape UGs have small buoyancy capacity and insufficient space for batteries and sensors. In this paper, a Ray-type hybrid underwater glider (RHUG) is developed with new hull design, dual-buoyancy engine, and thrusters. The control system of the RHUG is constructed for gliding motion. To understand the characteristic of the RHUG, dynamic modelling of the dual-buoyancy engine was established. To verify the proposed dynamics model, a navigation experiment using the developed RHUG platform was carried out. Through comparison between experiment and simulation results, the validity of dynamic modelling will be presented. And the experimental results in the sea are also illustrated to evaluate the gliding performance of this new hull design.

Recommended Citation

Nguyen, Ngoc-Duc; Choi, Hyeung-Sik; Lee, Sung-Wook; Hsieh, Wen-Hsiang; Jeong, Sang-Ki; and Ji, Dae-Hyeong (2020) "Dynamic Modelling and Experimental Results of a Ray-Type Hybrid Underwater Glider with a Dualbuoyancy Engine," Journal of Marine Science and Technology: Vol. 28: Iss. 6, Article 5.
DOI: DOI:10.6119/JMST.202012_28(6).0005
Available at: https://jmstt.ntou.edu.tw/journal/vol28/iss6/5