Dynamic Modeling and Motion Simulation for Wave Glider

Abstract

Wave gliders as innovative autonomous ocean-going vehicles harvest the abundant marine natural energy for persistent ocean environment monitoring. This paper analyzes wave glider’s operating mechanism and builds the dynamic model of wave glider. By simplifying the model into 3 DOS in longitudinal plane and selecting three generalized velocity, the kinematic equations and the generalized force can be confirmed. Then, based on the equation of Kane vector operation modeling method, the explicit kinetic model of wave glider is presented. According to simulation study of the kinetic model, the relationship between the motion state of wave glider and the wave motion are indicated. The study provides theoretical guidance and reference for wave glider design.