Dynamic modeling, motion analysis and fault diagnosis of underwater gliders with the loss of one wing

Underwater glider is one of the most promising ocean observation platforms and plays an important role in ocean observation and exploration because of its low energy consumption, long endurance and low cost. However, due to the complex and unpredictable ocean environment, many wing loss accidents of underwater gliders have been reported in recent years, which could not only lead to the uncontrollability of mission trajectory, but also cause the interruption of observation research. Therefore, this study explores the fault diagnosis of underwater gliders with the loss of one wing through dynamic modeling and motion analysis. First, a dynamic model of the Petrel underwater glider with the loss of one wing is established by considering the kinematic and dynamic theory, which is fundamentally different from the healthy prototypes. Then, the motion analysis of underwater gliders with the loss of one wing during the diving and climbing phases is performed using the proposed dynamic model, and the control strategy and parameter adjustment method are proposed for maintaining the target heading. Finally, three fault diagnosis methods of underwater gliders with the loss of one wing are proposed to timely and accurately detect the wing loss, which are verified by the massive sea trial data. Furthermore, the dynamic modeling, control strategy and fault diagnosis methods are also applicable to other underwater gliders.