Investigation of Multiple Buoyancy Controller Equipped Underwater Glider Robot Modeling for Control System Development and Gliding Simulation
Luis Canete, Jun Niel Paquibot, Masaharu Matsumoto, Takayuki Takahashi
AI summary
Problem
Existing glider models are either computationally expensive or fail to account for multiple buoyancy controllers and irregular geometries, slowing control system development for lake surveying robots.
Approach
The authors combine Euler-Lagrange rigid body dynamics with pre-computed CFD hydrodynamic data fitted to polynomial functions, creating a fast simulation framework for a dual buoyancy controller prototype.
Key results
- 2D parametric rigid body dynamics model derived via Euler-Lagrange equations
- CFD-computed lift, drag, and pitching moment coefficients across multiple flow velocities
- Polynomial interpolation functions replacing real-time CFD calculations
- Preliminary simulation trajectories showing qualitative agreement with physical gliding tests
Why it matters
Provides a computationally efficient modeling pathway for developing control systems for novel, energy-efficient underwater gliders designed for environmental lake monitoring.
Abstract
This paper discusses the development of a model for an underwater glider robot equipped with multiple buoy- ancy controllers aimed at environmental surveying of lakes. Primary target of the model is performing 2D simulation of actual gliding that will lead to control system development. This proves to be a challenge as gliding requires calculation of hydrodynamic forces in the medium, in this case water, which typically involves Computational Fluid Dynamics (CFD). Although CFD is a well established technique, it’s a well known fact that it is expensive both in terms of computational resources and valuable time. Instead, an approach that combines CFD with Euler-Lagrange equations is proposed and undertaken. Discussion regarding the proposed underwater glider, deriva- tion of the model, the architecture of the simulation, and preliminary simulation results referenced with actual gliding results are presented.