PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can b...PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.展开更多
Based on the momentum theorem, the fluid governing equation in a lifting pipe is proposed by use of the method combining theoretical analysis with empirical correlations related to the previous research, and the perfo...Based on the momentum theorem, the fluid governing equation in a lifting pipe is proposed by use of the method combining theoretical analysis with empirical correlations related to the previous research, and the performance of an airlift pump can be clearly characterized by the triangular relationship among the volumetric flux of air, water and solid particles, which are obtained respectively by using numerical calculation. The meso-scale river sand is used as tested particles to examine the theoretical model. Results of the model are compared with the data in three-phase flow obtained prior to the development of the present model, by an independent experimental team that used the physical conditions of the present approach. The analytical error can be controlled within 12% for predicting the volumetric flux of water and is smaller than that （±16%） of transporting solid particles in three-phase flow. The experimental results and computations are in good agreement for air-water two-phase flow within a margin of ±8%. Reasonable agreement justifies the use of the present model for engineering design purposes.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos. 50835006 and 51005161)the Science & Technology Support Planning Foundation of Tianjin(Grant No. 09ZCKFGX03000)the Natural Science Foundation of Tianjin(Grant No. 09JCZDJC23400)
文摘PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51374101 and 51474158)the National Basic Research Program of China(973 Program,Grant No.2014CB239203)the Scientific Research Project of Education Department of Hunan Province(Grant No.14B047)
文摘Based on the momentum theorem, the fluid governing equation in a lifting pipe is proposed by use of the method combining theoretical analysis with empirical correlations related to the previous research, and the performance of an airlift pump can be clearly characterized by the triangular relationship among the volumetric flux of air, water and solid particles, which are obtained respectively by using numerical calculation. The meso-scale river sand is used as tested particles to examine the theoretical model. Results of the model are compared with the data in three-phase flow obtained prior to the development of the present model, by an independent experimental team that used the physical conditions of the present approach. The analytical error can be controlled within 12% for predicting the volumetric flux of water and is smaller than that （±16%） of transporting solid particles in three-phase flow. The experimental results and computations are in good agreement for air-water two-phase flow within a margin of ±8%. Reasonable agreement justifies the use of the present model for engineering design purposes.
