Dynamic Modeling and Motion Analysis of Deep-Sea Gliders with Energy Accumulator

The variations of seawater density, pressure and temperature will affect buoyancy of glider and its motion performance. This study proposed a passive buoyancy compensation device, energy accumulator, to reduce the negative effects of buoyancy changes. In this study, a dynamic model of glider with energy accumulator was established and used to simulate the sawtooth motion. Results from simulation showed that the accumulator could well compensate buoyancy change and reduce its negative effects. The proposed accumulator is highly potential to be used on deep-sea gliders to handle the buoyancy change problem in practice.