发表机构
Peking University（北京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究微型混合水下滑翔器，通过将机翼配置视为结构变量开发多体动力学模型，基于CRBA投影形成统一动态模型，提出顺序参数识别框架，经实验验证能在受限水下环境主动重构形态并增强导航。
AI 中文摘要
微型混合水下滑翔器在长时间海洋观测和受限空间检查方面越来越受关注。大范围机翼重构是增强受限水下环境中机动性和形状适应性的一种有前景但未充分探索的方法。然而，这种变形在机械集成、动态建模和流体动力学表征方面带来了重大挑战。本文介绍了FoDeGlider，一种配备两个可独立驱动的能大范围折叠和偏转机翼的微型混合水下滑翔器。通过将机翼配置视为结构变量，开发了多体动力学模型来捕捉质量分布、几何中心位置和流体动力载荷的配置相关变化。基于复合刚体算法（CRBA）的投影将复合惯性、扳手变换和部件级流体动力学公式化为适用于任意机翼配置的统一Fossen形式动态模型。还提出了一个顺序参数识别框架来估计机身和机翼的流体动力系数，产生了一个用于模型识别和验证的开放基准数据集。进行了广泛实验，结果证明了在不同变形配置下准确的动态建模和参数识别。闸门穿越实验进一步验证了FoDeGlider在运动过程中主动重构其形态的能力，从而在受限水下环境中实现了增强的导航。
英文摘要
Miniature hybrid underwater gliders have attracted increasing attention for long-endurance ocean observation and confined-space inspection. Large-range wing reconfiguration offers a promising yet largely unexplored approach for simultaneously enhancing maneuverability and shape adaptability in constrained underwater environments. However, such morphing introduces substantial challenges in mechanical integration, dynamic modeling, and hydrodynamic characterization. This paper presents FoDeGlider, a miniature hybrid underwater glider equipped with two independently actuated wings capable of large-range folding and deflection. To capture configuration-dependent variations in mass distribution, center-of-geometry location, and hydrodynamic loading, a multibody dynamics model is developed by treating wing configuration as a structural variable. A composite rigid body algorithm (CRBA)-based projection formulates the composite inertia, wrench transformations, and component-level hydrodynamics into a unified Fossen-form dynamic model applicable to arbitrary wing configurations. A sequential parameter-identification framework is further proposed to estimate fuselage and wing hydrodynamic coefficients, resulting in an open benchmark dataset for model identification and validation. Extensive experiments are conducted, the results of which demonstrate accurate dynamic modeling and parameter identification across diverse morphing configurations. Gate traversal experiments further validate FoDeGlider's ability to actively reconfigure its morphology during locomotion, enabling enhanced navigation in confined underwater environments.
Comments11 pages, 8 figures, journal
