A New Roll and Pitch Control Mechanism for an Underwater Glider

Authors

  • Kesavan Panjavarnam Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia
  • Mark Ovinis Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia
  • Saravanan Karupanan Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia

DOI:

https://doi.org/10.37934/arfmts.85.1.143160

Keywords:

Underwater Glider, Pitch Control, Roll Control

Abstract

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.

Author Biographies

Kesavan Panjavarnam, Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia

kthambiboy@gmail.com

Mark Ovinis, Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia

mark_ovinis@utp.edu.my

Saravanan Karupanan, Department of Mechanical Engineering, Faculty of Engineering, Universiti Teknologi Petronas, 32610 Bandar Seri Iskandar, Perak, Malaysia

saravanan_karuppanan@utp.edu.my

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Published

2021-08-04

How to Cite

Panjavarnam, K., Ovinis, M. ., & Karupanan, S. . (2021). A New Roll and Pitch Control Mechanism for an Underwater Glider. Journal of Advanced Research in Fluid Mechanics and Thermal Sciences, 85(1), 143–160. https://doi.org/10.37934/arfmts.85.1.143160

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