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Overall Design Technology of Unmanned Underwater Systems | Publishing Language: Chinese

Motion response characteristics of the longitudinal profile of a wave glider based on a multi-segment hinged rigid rod umbilical cable model

Shaoyu SHI1,2, Yanhui AI3, Weixin ZHOU1,2, Zifeng SHI3, Xingran LI1,2, Jingxi LIU1,2( )
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Key Laboratory of Naval Architecture and Ocean Engineering Hydrodynamics of Hubei Province, Wuhan 430074, China
Yichang Test Technology Research Institute, Yichang 443003, China
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Abstract

Objective

This study aims to develop a dynamic model of the longitudinal profile motion of wave gliders by modeling the umbilical cable as multiple hinged rigid rods, and to investigate the effects of environmental and umbilical cable parameters on the longitudinal motion characteristics.

Method

Based on reasonable assumptions and simplifications, the umbilical cable was modeled as a series of homogeneous, multi-segment rigid rods connected by hinges. The Lagrangian method was employed to construct a multi-rigid-body dynamic model of the wave glider in the longitudinal profile. Incorporating calculation methods for wave force, fluid resistance, and hydrofoil external forces, a simulation program was developed on the MATLAB/Simulink platform to solve the model. The model's validity was verified by comparing its results with those of existing studies. Finally, a sensitivity analysis was conducted to examine the influence of environmental and umbilical cable parameters on the system response.

Results

The results indicate that the longitudinal motion response increases with wave height; specifically, when the wave height rises from 0.2 m to 0.4 m, the longitudinal response increases by 78.20%. Under a current disturbance of 0.07 m/s, the longitudinal displacement within 60 s in the downstream condition increases from 1.53 m to 9.11 m compared with the upstream condition. Shorter umbilical cables amplify the longitudinal motion response; when the umbilical cable length decreases from 5 m to 2 m, the longitudinal response increases by 31.97%. Conversely, excessively small wave periods reduce the longitudinal response due to rigid impacts between the multi-segment hinged rigid rods. Changes in umbilical cable density, however, exert only a minor influence on the longitudinal motion response.

Conclusion

The findings of this study provide theoretical support for the structural optimization and motion control strategies of wave gliders.

Keywords

wave glidermulti-rigid-bodylongitudinal motion characteristicdynamic modelssensitivity analysisstructural optimizationmotion control
CLC number: U661.33 Document code: A

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Chinese Journal of Ship Research
Volume 21 Issue 2,
April 2026
Pages 137-147
DOI: 10.19693/j.issn.1673-3185.04608

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Cite this article:
SHI S, AI Y, ZHOU W, et al. Motion response characteristics of the longitudinal profile of a wave glider based on a multi-segment hinged rigid rod umbilical cable model. Chinese Journal of Ship Research, 2026, 21(2): 137-147. https://doi.org/10.19693/j.issn.1673-3185.04608

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Received: 01 July 2025
Revised: 03 September 2025
Published: 11 September 2025
© 2026 Chinese Journal of Ship Research.