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This study aims to develop a dynamic model of the longitudinal profile motion of wave gliders by modeling the umbilical cable as multiple hinged rigid rods, and to investigate the effects of environmental and umbilical cable parameters on the longitudinal motion characteristics.
Based on reasonable assumptions and simplifications, the umbilical cable was modeled as a series of homogeneous, multi-segment rigid rods connected by hinges. The Lagrangian method was employed to construct a multi-rigid-body dynamic model of the wave glider in the longitudinal profile. Incorporating calculation methods for wave force, fluid resistance, and hydrofoil external forces, a simulation program was developed on the MATLAB/Simulink platform to solve the model. The model's validity was verified by comparing its results with those of existing studies. Finally, a sensitivity analysis was conducted to examine the influence of environmental and umbilical cable parameters on the system response.
The results indicate that the longitudinal motion response increases with wave height; specifically, when the wave height rises from 0.2 m to 0.4 m, the longitudinal response increases by 78.20%. Under a current disturbance of 0.07 m/s, the longitudinal displacement within 60 s in the downstream condition increases from 1.53 m to 9.11 m compared with the upstream condition. Shorter umbilical cables amplify the longitudinal motion response; when the umbilical cable length decreases from 5 m to 2 m, the longitudinal response increases by 31.97%. Conversely, excessively small wave periods reduce the longitudinal response due to rigid impacts between the multi-segment hinged rigid rods. Changes in umbilical cable density, however, exert only a minor influence on the longitudinal motion response.
The findings of this study provide theoretical support for the structural optimization and motion control strategies of wave gliders.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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