Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions
The underwater glider has difficulty accessing the complex and narrow hadal trench for observation, which is affected by its limited regulation capability of pitch angle (−45°~45°). In this study, a compact attitude regulating mechanism is proposed to extend the regulation range of pitch angle from...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/1/5 |
| _version_ | 1827624460029526016 |
|---|---|
| author | Peng Wang Xuehao Wang Yanhui Wang Wendong Niu Shaoqiong Yang Chao Sun Chenyi Luo |
| author_facet | Peng Wang Xuehao Wang Yanhui Wang Wendong Niu Shaoqiong Yang Chao Sun Chenyi Luo |
| author_sort | Peng Wang |
| collection | DOAJ |
| description | The underwater glider has difficulty accessing the complex and narrow hadal trench for observation, which is affected by its limited regulation capability of pitch angle (−45°~45°). In this study, a compact attitude regulating mechanism is proposed to extend the regulation range of pitch angle from −90°to 90° and to install it on the hadal-class underwater glider Petrel-X<sup>PLUS</sup>. Subsequently, the dynamics model of Petrel-X<sup>PLUS</sup> is established using dual quaternions to solve the “gimbal lock” problem caused by the increased pitch angle range. Within the extended pitch range, the motion modes of the glider are enriched into long-range, virtual mooring, and Lagrangian float modes for long-range, small-area, and current-following observation missions, respectively, and are analyzed using the established dynamics model. Moreover, a ballast method was used to modify the pitch angle range and initial equilibrium state of a constructed underwater glider. Finally, Petrel-X<sup>PLUS</sup> achieved a pitch angle regulation range of −90°~90° in a water pool experiment and completed three consecutive profiles in a sea trial in the Challenger Deep, Mariana Trench, with all depths over 10,000 m, of which the maximum depth was 10,619 m. The proposed mechanism and methods can also be applied to other submersibles to facilitate ocean observations. |
| first_indexed | 2024-03-09T12:07:55Z |
| format | Article |
| id | doaj.art-ad6e7b716ea54a54b661f0d40537ab6d |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T12:07:55Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-ad6e7b716ea54a54b661f0d40537ab6d2023-11-30T22:55:52ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-12-01111510.3390/jmse11010005Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual QuaternionsPeng Wang0Xuehao Wang1Yanhui Wang2Wendong Niu3Shaoqiong Yang4Chao Sun5Chenyi Luo6Key Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaKey Laboratory Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin 300350, ChinaThe underwater glider has difficulty accessing the complex and narrow hadal trench for observation, which is affected by its limited regulation capability of pitch angle (−45°~45°). In this study, a compact attitude regulating mechanism is proposed to extend the regulation range of pitch angle from −90°to 90° and to install it on the hadal-class underwater glider Petrel-X<sup>PLUS</sup>. Subsequently, the dynamics model of Petrel-X<sup>PLUS</sup> is established using dual quaternions to solve the “gimbal lock” problem caused by the increased pitch angle range. Within the extended pitch range, the motion modes of the glider are enriched into long-range, virtual mooring, and Lagrangian float modes for long-range, small-area, and current-following observation missions, respectively, and are analyzed using the established dynamics model. Moreover, a ballast method was used to modify the pitch angle range and initial equilibrium state of a constructed underwater glider. Finally, Petrel-X<sup>PLUS</sup> achieved a pitch angle regulation range of −90°~90° in a water pool experiment and completed three consecutive profiles in a sea trial in the Challenger Deep, Mariana Trench, with all depths over 10,000 m, of which the maximum depth was 10,619 m. The proposed mechanism and methods can also be applied to other submersibles to facilitate ocean observations.https://www.mdpi.com/2077-1312/11/1/5underwater gliderdual-eccentric attitude regulating mechanismdynamics modelingballast methodhadal trenchsea trial |
| spellingShingle | Peng Wang Xuehao Wang Yanhui Wang Wendong Niu Shaoqiong Yang Chao Sun Chenyi Luo Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions Journal of Marine Science and Engineering underwater glider dual-eccentric attitude regulating mechanism dynamics modeling ballast method hadal trench sea trial |
| title | Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions |
| title_full | Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions |
| title_fullStr | Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions |
| title_full_unstemmed | Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions |
| title_short | Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions |
| title_sort | dynamics modeling and analysis of an underwater glider with dual eccentric attitude regulating mechanism using dual quaternions |
| topic | underwater glider dual-eccentric attitude regulating mechanism dynamics modeling ballast method hadal trench sea trial |
| url | https://www.mdpi.com/2077-1312/11/1/5 |
| work_keys_str_mv | AT pengwang dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT xuehaowang dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT yanhuiwang dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT wendongniu dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT shaoqiongyang dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT chaosun dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions AT chenyiluo dynamicsmodelingandanalysisofanunderwatergliderwithdualeccentricattituderegulatingmechanismusingdualquaternions |