The development of a novel type of hybrid underwater glider that combines the advantages of buoyancy-driven gliders and propeller-driven autonomous underwater vehicles has recently received considerable interest. However, few studies have considered a hybrid glider with docking capability, which would expand the glider's applications. This study presents a hybrid glider with a rotatable thruster for realizing underwater docking. A tailored dynamic model of the hybrid glider is derived, and the motion performance is evaluated by simulations and experimental tests. A comparison between the experiments and simulations shows that results are in agreement, thus indicating the feasibility of the dynamic model and the accuracy of the hydrodynamic coefficients. In addition, the hybrid glider open-loop docking tests validate the feasibility of the mechanical docking system. Moreover, the experimental tests also validate the glider's different functions and indicate that the hybrid glider with rotatable thruster has high maneuverability even at low speeds. Thus, this type of hybrid glider can be used for underwater docking.

中文翻译：

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用于水下对接的混合水下滑翔机：建模和性能评估

结合浮力驱动滑翔机和螺旋桨驱动的自主水下航行器的优点的新型混合水下滑翔机的开发最近引起了相当大的兴趣。然而，很少有研究考虑具有对接能力的混合滑翔机，这将扩大滑翔机的应用。这项研究提出了一种带有可旋转推进器的混合滑翔机，用于实现水下对接。推导出混合滑翔机的定制动态模型，并通过模拟和实验测试评估运动性能。实验与模拟的比较表明，结果是一致的，从而表明动力模型的可行性和水动力系数的准确性。此外，混合滑翔机开环对接测试验证了机械对接系统的可行性。此外，实验测试还验证了滑翔机的不同功能，表明带有可旋转推进器的混合滑翔机即使在低速下也具有很高的机动性。因此，这种类型的混合滑翔机可用于水下对接。