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© 2025 Elsevier LtdTo further balance the energy efficiency and motion accuracy of morphing underwater gliders, this paper proposes a novel motion trajectory and corresponding combination optimization method. Based on the glider's steady-state motion characteristics and the kinematic relationship, quantitative evaluation models of two performance indicators are established, considering the effect of water current. Compared to dynamic models, they can reduce unknown parameters, avoid solving second-order differential equations, and so improve analysis efficiency. Considering water current characteristics, the novel motion trajectory is achieved by making the glider adjust the movable mass block's translation amounts and morphing parameter values to have a larger vertical velocity and a smaller gliding angle in shallow and deep water areas, respectively. The combination optimization objective is to improve two performance indicators simultaneously, and iteration calculation is executed by quantitative evaluation models and a multi-objective optimization algorithm. Design variables include the glider's control parameters and a decimal integer. This decimal integer will be converted into an n-ary number to represent the permutation of optimal values of morphing parameters in the novel motion trajectory. This method will effectively reduce the number of design variables and the convergence difficulty of optimization calculation. Finally, the glider with a morphing nose cone is taken as a research objective to verify the method effectiveness.
Author(s): Wu H, Ding J, Niu W, Liao M, Song Y, Tan L, Yan S
Publication type: Article
Publication status: Published
Journal: Ocean Engineering
Year: 2025
Volume: 329
Print publication date: 15/06/2025
Online publication date: 08/04/2025
Acceptance date: 02/04/2025
ISSN (print): 0029-8018
ISSN (electronic): 1873-5258
Publisher: Elsevier Ltd
URL: https://doi.org/10.1016/j.oceaneng.2025.121154
DOI: 10.1016/j.oceaneng.2025.121154
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