Dynamic Analysis of the Cable-Releasing Phase for the Underwater Glider on Mooring Mission

The blended-wing-body underwater glider (BWB-UG) represents a novel mobile ocean exploration platform. In order to enable the device to perform long-term monitoring at fixed locations, a mooring mission with a cable is proposed. The cable-releasing phase represents a pivotal moment in the mooring mission, as it determines the success of the mission and the stability of the multibody system in motion. Consequently, this article examines the dynamics of the BWB-UG during the cable-releasing phase. A mathematical model of the cable release strategy has been established. A solution algorithm for the cable length increase is established based on the concentrated mass method and the multibody dynamics method. The analysis of the factors influencing the multibody system during the cable release phase has been completed. The effects of three movement patterns, namely downward gliding, upward gliding and straight navigation, are analyzed. The impact of ocean current magnitude and direction on the system is analyzed. The impact of the cable laying position and quantity on the system is analysed. The mechanism of the factors influencing the dynamics of the multibody system during the cable-releasing phase is elucidated.