Andrey L. Sukhorukov, Maxim A. Titov

Central Design Bureau for Marine Engineering «Rubin»,

In this work, a mathematical model is built and the parameters of the spatial movement of a modified disk-shaped glider are determined when maneuvering in depth and course. The modification consisted in creating a profiled annular "groove" on the body of the glider. The introduction of this structural element reduces the value of the overturning moment and increases the damping moment, which, in turn, improves the stability parameters of the glider in the vertical plane. Maneuvering was carried out due to the operation of the mechanism for changing the buoyancy and the mechanism for fine trimming the glider. It is shown that the introduction of a fine trim mechanism into the design makes it possible to optimize the angle of attack of the glider. The schemes of operation of the mechanisms for changing buoyancy and fine trim were determined, which ensure stable maneuvering of a disk-shaped glider in depth and course.

underwater glider, glider, three-dimensional maneuvering, disk-like shape, excessive buoyancy, motion stability, hydrodynamic quality, angle of attack