Simulation and Design of Adjustment System for Gravity Driven Underwater Gliders

To study the relationship between the motion parameters and control variables of the underwater glider,overall analysis of the weight-driven underwater glider is conducted,and gravity buoyancy adjustment mechanism and gravity center adjustment mechanism are designed.Mechanical analysis of the underwater glider with a gravity adjust-ment device installed in its bow is also conducted to get the parameters of the underwater glider's control system.Ki-nematic equations are derived on the basis of Newton-Euler method,and simulation via the software Matlab is per-formed.The results show that the glider's pitch angle,attack angle and velocity increase with the increasing mass mov-ing distance or net buoyancy,there is an extreme value of horizontal velocity when net buoyancy is fixed.Finally,the parameters of gravity adjustment mechanism and gravity buoyancy adjustment mechanism are determined for achieving maximum horizontal velocity.