Motion characteristic analysis of a hybrid-driven underwater glider

PETREL, a winged hybrid-driven underwater glider is presented, which features long-endurance low-noise while penetrating the ocean like a UW glider and burst-speed high-maneuverability while operated as an AUV. In addition, kinematic and dynamic model of the vehicle are developed based the theorem of momentum and moment of momentum. Moreover, equations of equilibrium indicating the balance pitch and attack angles are deduced and indexes for evaluation of maneuverability of this vehicle in 6-DOF are defined. Furthermore, its specific characters are investigated by simulation and the functionality is validated by field trial. In thrust operation, the external bladder for buoyancy change improves the efficiency of pitch control while mounted on the fore end of vehicle and the swerving radius is largely decreased by using vertical fins for steering instead of roll mass; Meanwhile in glide operation, the longitudinal maneuverability is largely increased due to the fixed wings and the capability of attitude keeping is augmented by redistribution of internal mass (roll and pitch mass) while the vehicle cruises at low speed.