A power system with proton exchange membrane fuel cells (PEMFC) was designed for thermal underwater glider.Heat generated by PEMFC is used as the propulsion power of the glider,and the electricity is used in the control and sensor system.An electric energy storage system (ESS) is required which possesses high power density with good cycle life.Ultracapacitors which exhibit high power density and cycle life are considered as energy storage devices.Simulations based on a specific voyage condition indicate that ESS with ultracapacitors has positive effects on reducing the output power demand of PEMFC and lightening the power system.Experimental results show that the state of charge (SOC) is related to the capacitance and resistance in ultracapacitor ESS.
For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.
