Study of Underwater and Wave Gliders on the Basis of Simplified Mathematical Models

Both underwater and wave gliders are known as autonomous unmanned energy-saving vehicles which have recently found applications for monitoring the world ocean. The paper under consideration discusses simplified mathematical models of these platforms enabling straightforward parametric investigation into relationships between their parameters performance. In its first part equations describing motion an glider (UG) in a vertical plane basis derivations relating geometric, kinematic hydrodynamic characteristics UG lifting system with relative differential buoyancy pitch angle. Obtained therewith formulae estimation glide path speed, lift-to-drag ratio, range navigation endurance. approach is exemplified typical cases conceived winged bodies revolution flying wings. calculated results feature dependencies speed on configuration volume well angle attack different magnitudes buoyancy. Also considered optimal mode operation, based maximization ratio. second dedicated to thrust (WG), comprising surface module (float) represented by wing, use modeling intended clarify influence upon performance WG. led equation forced oscillations vehicle accounting interaction upper lower modules, connected rigid umbilical. exciting impact progressive waves given length amplitude through calculation variation force accordance Froude–Krylov hypothesis. derivatives time-varying lift respect parameters, entering WG, coefficients instantaneous time-averaged force, resorting oscillating hydrofoil theory. derivation available approximate drag account viscous components enable evaluation WG prescribed geometry craft parameters.