Open AccessSensitivity Analysis of the Turning Motion of an Underwater Glider on the Viscous Hydrodynamic Coefficients
Author(s) -
Venkata Shashank Shankar Rayaprolu,
R. Vijayakumar
Publication year - 2021
Publication title -
defence science journal/defence science journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.198
H-Index - 32
eISSN - 0976-464X
pISSN - 0011-748X
DOI - 10.14429/dsj.71.16905
Subject(s) - rudder , underwater glider , marine engineering , spiral (railway) , sensitivity (control systems) , hull , drag , buoyancy , turning radius , lift (data mining) , trajectory , heading (navigation) , drag coefficient , mechanics , glider , engineering , control theory (sociology) , physics , aerospace engineering , computer science , mechanical engineering , control (management) , astronomy , electronic engineering , artificial intelligence , data mining
Autonomous underwater gliders (AUG) are a class of underwater vehicles that move using a buoyancy engine and forces from wings. Gliders execute turning motion with the help of a rudder or an internal roll control mechanism and the trajectory of the turn is a spiral. This paper analyses the sensitivity of the characteristics of spiral manoeuvre on the hydrodynamic coefficients of the glider. Based on the dynamics model of a gliding fish whose turn is enabled by a rudder, the effect of hydrodynamic coefficients of the hull and the rudder on the spiral motion are quantified. Local sensitivity analysis is undertaken using the indirect method. The order of importance of hydrodynamic coefficients is evaluated. It is observed that the spiral path parameters are most sensitive to the side force created by the rudder and the effect of the drag coefficient is predominant to that of the lift coefficients. This study will aid in quantifying the effect of change of geometry on the manoeuvrability of AUGs.