Open AccessA New Roll and Pitch Control Mechanism for an Underwater Glider
Author(s) -
Kesavan Panjavarnam,
Mark Ovinis,
Saravanan Karupanan
Publication year - 2021
Publication title -
journal of advanced research in fluid mechanics and thermal sciences
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.247
H-Index - 13
ISSN - 2289-7879
DOI - 10.37934/arfmts.85.1.143160
Subject(s) - underwater glider , buoyancy , mechanism (biology) , glider , pitch control , pitch angle , water flow , volumetric flow rate , mechanics , marine engineering , materials science , engineering , geology , mechanical engineering , physics , geotechnical engineering , turbine , quantum mechanics , geophysics
In this paper, a new roll and pitch control mechanism for an underwater glider is described. The mechanism controls the glider’s pitch and roll without the use of a conventional buoyancy engine or movable mass. The mechanism uses water as trim mass, with a high flow rate water pump to shift water from water bladders located at the front, rear, left, and right of the glider. By shifting water from the left water bladder to the right water bladder, a roll moment is induced. Similarly, pitch is achieved by controlling the water flow between the front and rear water bladder using a water pump. The water bladders act not only as a means for roll and pitch control but as a buoyancy engine as well. While this mechanism reduces the need for a dedicated buoyancy engine, as well as internal moving masses, motion control is more complicated, as buoyancy, roll, and pitch must be considered simultaneously. The dynamics of the system were derived and simulated, as well as validated experimentally. The glider is able to move in a sawtooth pattern with a pitch angle of 43.5?, as well as a maximum roll angle of 43.6?. Additionally, the effect of pump rate on pitch and roll rate was investigated. Both pitch and roll rates increase with increasing pump rate.